From be75dda8d1e1550c6342c229b66827063dc81c25 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Wed, 20 Sep 2023 15:12:28 -0700
Subject: [PATCH] Fix arena memory leak in `_realloc_con_efc`.

PiperOrigin-RevId: 567093603
Change-Id: I0a00da461b495cc13e54381862d740333a43f82b
---
 python/mujoco/functions.cc | 1 +
 1 file changed, 1 insertion(+)

diff --git a/python/mujoco/functions.cc b/python/mujoco/functions.cc
index 768b2568..dbc6bf86 100644
--- a/python/mujoco/functions.cc
+++ b/python/mujoco/functions.cc
@@ -1343,6 +1343,7 @@ PYBIND11_MODULE(_functions, pymodule) {
             static_cast<char*>(data->arena),
             data->narena - data->pstack);
 #endif
+          data->parena = 0;
           data->ncon = 0;
           data->nefc = 0;
           data->contact = static_cast<raw::MjContact*>(data->arena);