Somehow tests load these libs twice, and construct/destruct globals twice.
Can be preproduced even without sanitizers with logging from GlobalModel::~GlobalModel.
themodel does not need to be visible. If it's static each instance will have own a copy.
_mjMap does not need to use string and avoid lifecycle issues at all.
PiperOrigin-RevId: 454678814
Change-Id: I8fca5e1f06cbc2b413beabcece1219445482c0ed
d8880e9a12 introduced measuring performance of a fixed batch of 50 steps, with a fixed starting state.
The Google Benchmark library has a more direct API for doing this, which ends up with nicer looking reported numbers.
PiperOrigin-RevId: 454133316
Change-Id: I368b985dc871084b9ed8c41a87016408719b53ad
Using fabs with int arguments broke the clang build on GitHub Actions, with a `-Wabsolute-value` error.
PiperOrigin-RevId: 453872474
Change-Id: I5c1278e9e628b0ea3d6f26c7ee7d6925c6276850
I am running through simulate.swift (my port of simulate.cc) with
address sanitizer to discover related bugs.
Besides ones in my port, there are two in MuJoCo:
1. in maketext, the logic to find . is not protected against j is less
than 0 (due to the decreasing logic above), creating out of bound
access.
2. in mj_printFormattedData, qfrc_applied should use length nv not nq,
otherwise out of bound access could be triggered.
Test Plan:
Run through the simulate.cc with asan. Before this fix, when presenting
profiler view, it will trigger bug #1. When print data, it will trigger
bug #2. Both are using model/humanoid/22_humanoids.xml.
`discardvisual="false"` is often required when importing URDF models.
[Relevant issue](https://github.com/deepmind/mujoco/issues/326).
PiperOrigin-RevId: 453429187
Change-Id: I6dccc5656114224d11010c87e6a127321cce93c1
- Applies to [orientation specifiers](https://mujoco.readthedocs.io/en/latest/modeling.html#frame-orientations) in `body`, `inertial`, `geom`, `site`, `camera`.
- Before this change the check was done only for multiple *alternative* specifiers, but not for `quat` and an alternative specifier.
- Moved the check from the compiler to the parser.
- Added tests.
PiperOrigin-RevId: 453201981
Change-Id: I20907361f211dae904e734cd083e9df0efe4f654
The test is meant to illustrate a failure of an incomplete actrange when the rest of the line is correct.
PiperOrigin-RevId: 451895379
Change-Id: I9782fae7055c9bed87ccbc0fda18495aacb2ae8a
This also fixes a sensor data reading bug: previously, _sensorIndex was multiplied by 3 by MjEngineTool.
PiperOrigin-RevId: 451699887
Change-Id: I864bcbf8159857764854b25311a26ec5672125d9
The introduction of additional mjData arrays for the implicit integrator caused in a shift in data alignment in memory. In certain combinations of machines and models, this change resulted in ~5% performance regression that appears to be attributable to L2 cache misses.
This change aligns all arrays in mjData to the boundary of a typical L2 cache line size. Benchmarking shows that this resolves the performance regression on a Broadwell machine.
PiperOrigin-RevId: 451652783
Change-Id: I4ed2c2d03453a83a0b4a9b8e224e2fd7c0dadea9
Inertias of moving bodies are enforced to be greater mjMINVAL at model compilation, there is no need to enforce inertias at mesh load time. Tiny meshes could be static or part of a larger geom assembly, in which case their tiny inertia is not a problem.
Also, make error message for small masses/inertias more precise.
PiperOrigin-RevId: 451625216
Change-Id: I4b48d7a881e620d6fbb591ec77fbdacc7c03496c
This allows us to detect reads and writes that are logically out of bounds.
PiperOrigin-RevId: 451520772
Change-Id: I614a8062c404d97148166bcd37db399420956d8b
Indiscriminate memset into d->buffer and m->buffer previously caused msan to not detect uninitialized reads.
Also fix tests with uninitialized read bugs that are detected by msan after this change.
PiperOrigin-RevId: 451508224
Change-Id: I1f4b080a8ef765c34ba7a0adc2c686419f6e5516
Before this change, xipos[0,1,2] was only set to 0 by mj_resetData zeroing the entire buffer.
When using mj_resetDataDebug, the value would be wrong.
PiperOrigin-RevId: 450939814
Change-Id: I887dd977161c7d132a80b766db7be23350ffb50b
We currently skip building the Python bindings on Windows since MSVC takes an hour+ on them. Internally, we use Clang for our Windows build, so are not affected by this issue.
PiperOrigin-RevId: 450914163
Change-Id: I329aab28f3a2aeb1896242a8712f89d8ecff2f92
Alessio Quaglino