chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

MSAN: Don't clear mjData.sensordata in mj_resetData

Browse Source 
This is strictly an out array and should not be read before it is written to. This change improves MSAN coverage of engine code.

PiperOrigin-RevId: 819767673
Change-Id: I57500c8147f4774d326cf87ea3bac5420e4dd54d
This commit is contained in:
Yuval Tassa
2025-10-15 08:29:50 -07:00
committed by Copybara-Service
parent 99d93124f0
commit 5715cebbb9
3 changed files with 12 additions and 7 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/engine/engine_sensor.c
+6
View File
@@ -647,6 +647,8 @@ void mj_sensorPos(const mjModel* m, mjData* d) {
break;
case mjSENS_USER: // user
// clear result, compute later
mju_zero(d->sensordata + adr, m->sensor_dim[i]);
nusersensor++;
break;
@@ -822,6 +824,8 @@ void mj_sensorVel(const mjModel* m, mjData* d) {
break;
case mjSENS_USER: // user
// clear result, compute later
mju_zero(d->sensordata + adr, m->sensor_dim[i]);
nusersensor++;
break;
@@ -1346,6 +1350,8 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
break;
case mjSENS_USER: // user
// clear result, compute later
mju_zero(d->sensordata + adr, m->sensor_dim[i]);
nusersensor++;
break;