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Modify mjx.Model tex_data type.

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PiperOrigin-RevId: 828606695
Change-Id: I708dcf8e75766bf16d339999a9e8c70c8f65fd0c
This commit is contained in:
Baruch Tabanpour
2025-11-05 13:31:57 -08:00
committed by Copybara-Service
parent c34ac712a0
commit d0f32a7fe6
2 changed files with 9 additions and 1 deletions
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doc/changelog.rst
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@@ -29,6 +29,14 @@ MJX
- ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from MJX. - ``warp-lang`` optional dependency is updated to 1.10.0. ``pmap`` now works with MuJoCo Warp from MJX.
.. admonition:: Breaking ABI changes
:class: attention
- ``mjx.Model.tex_data`` is now a numpy ndarray instead of a jax.Array, to avoid vmapping over this potentially
large array. This may break certain use-cases with Madrona MJX, but we are no longer supporting this codepath.
We will be migrating users to a Warp-based batch renderer.
Version 3.3.7 (October 13, 2025) Version 3.3.7 (October 13, 2025)
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mjx/mujoco/mjx/_src/types.py
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@@ -819,7 +819,7 @@ class Model(PyTreeNode):
tex_width: np.ndarray tex_width: np.ndarray
tex_nchannel: np.ndarray tex_nchannel: np.ndarray
tex_adr: np.ndarray tex_adr: np.ndarray
tex_data: jax.Array tex_data: np.ndarray
mat_rgba: jax.Array mat_rgba: jax.Array
mat_texid: np.ndarray mat_texid: np.ndarray
pair_dim: np.ndarray pair_dim: np.ndarray