From 3f855f32d9b14179e17812056732d6809f0b4320 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 20 Dec 2024 10:10:25 -0800
Subject: [PATCH] Fix stack allocation leak in `mjv_addGeoms()`

PiperOrigin-RevId: 708356387
Change-Id: If3d227028ea8f809390911b578878d985d9d7b1a
---
 src/engine/engine_vis_visualize.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/engine/engine_vis_visualize.c b/src/engine/engine_vis_visualize.c
index e48f1834..2764bee7 100644
--- a/src/engine/engine_vis_visualize.c
+++ b/src/engine/engine_vis_visualize.c
@@ -1730,6 +1730,7 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
   category = mjCAT_DYNAMIC;
   if (vopt->flags[mjVIS_TENDON] && (category & catmask)) {
     // mark actuated tendons
+    mj_markStack(d);
     int* tendon_actuated = mjSTACKALLOC(d, m->ntendon, int);
     mju_zeroInt(tendon_actuated, m->ntendon);
     for (int i=0; i < m->nu; i++) {
@@ -1827,7 +1828,6 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
           int ncatenary = m->vis.quality.numslices + 1;
 
           // allocate catenary
-          mj_markStack(d);
           mjtNum* catenary = mjSTACKALLOC(d, 3*ncatenary, mjtNum);
 
           // points along catenary path
@@ -1852,10 +1852,10 @@ void mjv_addGeoms(const mjModel* m, mjData* d, const mjvOption* vopt,
 
             FINISH
           }
-          mj_freeStack(d);
         }
       }
     }
+    mj_freeStack(d);
   }
 
   // slider-crank