--
6ab68a057443f038a3d844807f205b1c99cab944 by Kevin Zakka <kevinarmandzakka@gmail.com>:
Fix pickle code-execution vulnerability in sysid loaders
Serialize signal_mapping as JSON so the trajectory and time series loaders can use allow_pickle=False, preventing arbitrary code execution from untrusted .npz files.
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3353 from kevinzakka:sysid-disable-pickle-load 6ab68a057443f038a3d844807f205b1c99cab944
PiperOrigin-RevId: 935400242
Change-Id: Iecd907174441fbcfd02c106b912a7ff375c9098c
- Added "Info" and "Profiler" to the "View" menu.
- Deleted the obsolete "Charts" menu entirely
- Removed the "Stats" toggle item from the "Help" menu.
PiperOrigin-RevId: 935314037
Change-Id: I01ee30cbba5c1b4aa54c2940b0265401cc965c07
Also:
- Patched Filament to support building with Clang, so the default MuJoCo build
mode doesn't need to change. This should probably be upstreamed.
- Added missing Windows deps to MuJoCo Platform CMake config.
- Updated Studio CMake config to fix unresolved symbols issues on Windows.
PiperOrigin-RevId: 934612701
Change-Id: I3a34a5d274e1452c9cfef0e2868f2788b4b0c7e8
Also:
- Packages MuJoCo Studio as MuJoCoStudio.app in the MuJoCo.dmg.
- Fixes a Filament compile issue.
- Patches libwebp to fix compile error related to universal builds and forces
it to build as static.
- Removes the separate, obsolete "build_studio" step.
PiperOrigin-RevId: 934564785
Change-Id: I50c83283b5e138062e37d53926a5a77fdf99dbfa
For example when loading parent_merge.xml:
```
WARNING: Attach conflict when attaching 'child' to 'parent_merge', policy is 'merge'
timestep: parent has 0.005, child has 0.002, taking the minimum
iterations: parent has 50, child has 100, taking the maximum
flag 'Damper': added from child
```
When loading parent_error.xml:
```
XML Error: Attach conflict when attaching 'child' to 'parent_error', policy is 'error'
timestep: parent has 0.005, child has 0.002
iterations: parent has 50, child has 100
Element 'attach', line 10
```
PiperOrigin-RevId: 933620810
Change-Id: Ib477863b5ef763474d27fb4be5a4148be1d5d500
CMake adds the imported mujoco target's include dir as -isystem, so with
system_headers sloppiness ccache stopped hashing the public MuJoCo headers.
A header-only change (new mjData field, new enum value) then went undetected
and ccache reused objects compiled against the old struct layout, yielding an
ABI-mismatched binding: wrong field offsets (garbage in struct/pickle tests),
stale mjENABLESTRING/mjNENABLE, and mjSpec-vs-mjData signature mismatches.
Removing system_headers makes ccache hash these headers and recompile on
change. The mtime/ctime flags stay (they absorb pip's per-run temp-dir churn
without affecting content detection).
Compiler warnings are now accumulated in a vector of strings within the mjSpec object. New API functions `mjs_numWarnings` and `mjs_getWarning` are added to access these warnings. The compiler's log handler now chains warnings to the global log handler, ensuring they are still displayed immediately. Call sites in `mj_loadXML`, `mj_compile`, and the Python and WASM bindings have been updated to use the new warning API.
PiperOrigin-RevId: 933361650
Change-Id: I47cab98a460c57b0898c0a1a43fce2a5b9648eb1
Haroon Qureshi