KTX textures crash the classic OpenGL renderer and the Python viewer with
"Number of channels not supported: 1": mjCTexture::LoadKTX stores the file as
an opaque single-channel blob for the Filament renderer, and mjr_uploadTexture
aborts via mju_error because the classic path only handles 3- or 4-channel
textures.
Skip textures the classic renderer can't upload (nchannel not 3 or 4) with a
warning instead of aborting, so the model still loads and the other textures
render. LoadKTX and the Filament path are unchanged. The guard also covers the
cube/skybox path, which previously over-read a single-channel blob as RGB.
Add a render_test.py regression test that builds a model with a KTX texture and
constructs an MjrContext; it aborts before this change and passes after.
Addresses #3343.
1. Links to the programming chapter were broken after 69c74f850e. They're now fixed with a redirect in readthedocs.io, but this commit updates them to the latest URL.
2. Most docs links should point to "stable" instead of "latest", since most users will want the docs for the released version, not the upcoming version. The exceptions are the programming chapter, and instructions for building the Python bindings from source.
PiperOrigin-RevId: 502821526
Change-Id: If0a55ab2be4751ba0165bf644030464234083133
Up the mujoco bindings version to 2.1.2.post2.
Keep the capsule deconstructor which calls mj_freeContext, because mjr_freeContext is idempotent.
PiperOrigin-RevId: 435714183
Change-Id: I9f8615f85f2b3e383f447f6684e61200039d57d4
Anas