render: skip textures the classic renderer can't upload - #3354
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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 google-deepmind#3343.
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Summary
KTX textures crash the classic OpenGL renderer and the Python viewer with
Number of channels not supported: 1:mjCTexture::LoadKTXstores the file as an opaque single-channel blob for the Filament renderer, andmjr_uploadTextureaborts viamju_errorbecause the classic path only handles 3- or 4-channel textures.Fix
Skip textures the classic renderer can't upload (
nchannelnot 3 or 4) with a warning instead of aborting, so the model still loads and the other textures render.LoadKTXand the Filament path are unchanged. The guard also covers the cube/skybox path, which previously over-read a single-channel blob as RGB.Test
Adds a
render_test.pyregression test that builds a model with a KTX texture and constructs anMjrContext; it aborts before this change and passes after.Proof
Rendered with the fix applied — the scene renders instead of crashing:
Addresses #3343.