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Fix incorrect data types in Python bindings of certain arrays.

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The mismatch between the `py::array_t` template argument and the type of the MuJoCo struct member being wrapped caused the `py::array_t` to be constructed via an unintended constructor overload, which in turn triggered `use-after-poison` under asan.

This bug affected the `geom`, `flex`, `elem`, and `vert` arrays in `mjContact`, and all array members in `mjrContext`.

PiperOrigin-RevId: 608632860
Change-Id: Ic227f691041b004a0fcf0cb6fa3d62c44861d9aa
This commit is contained in:
Saran Tunyasuvunakool
2024-02-20 09:25:26 -08:00
committed by Copybara-Service
parent 7c534a066c
commit abf6d41b7f
4 changed files with 72 additions and 13 deletions
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doc/changelog.rst
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@@ -27,6 +27,12 @@ MJX
5. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
6. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
Python bindings
^^^^^^^^^^^^^^^
7. Fixed incorrect data types in the bindings for the ``geom``, ``vert``, ``elem``, and ``flex`` array members
of the ``mjContact`` struct, and all array members of the ``mjrContext`` struct.
Version 3.1.2 (February 05, 2024)
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