MuJoCo ROS Integration - segmentation faults in model instance (from version 3.1.1 -> ^3.1.2)

Hi,

I'm a PhD student and I'm trying to use MuJoCo with ROS 2 to prototype robot workspaces and ROS 2 application software. I have created the following ROS package to accomplish this and it seems to work for MuJoCo version 3.1.1 and earlier. I recently have been looking to include meshes in my scenes which resulted in errors in 3.1.1 relating to inconsistent normals as seen here. As part of resolving this issue I looked to upgrade my MuJoCo version while in the process of doing so I have encountered segmentation faults when when interfacing with the model instance for all versions greater than or equal to 3.1.2.

I'm looking for some help with understanding changes between 3.1.1 -> 3.1.2 that may be causing my issue. I have started looking at the changelog and performing a diff to understand better what is causing my integration package to always produce a segfault on more recent versions of MuJoCo "^3.1.2". I am posting this issue in case anyone has a quick answer to what might be causing this issue in latest MuJoCo versions. I also believe this is relevant for anyone looking to cast model/data instances from python to C++ in a manner similar to the below:

std::uintptr_t m_raw = model.attr("_address").cast<std::uintptr_t>();
std::uintptr_t d_raw = data.attr("_address").cast<std::uintptr_t>();
m = reinterpret_cast<mjModel *>(m_raw);
d = reinterpret_cast<mjData *>(d_raw);

I instantiate my python binding from the referenced package in a Python script as below, where I read in the latest scene.xml from mujoco_menagerie for the Franka Emika Panda model:

import os
import time

import mujoco
import mujoco.viewer

import mujoco_ros
from mujoco_ros.franka_env import FrankaEnv

model_filepath = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'models', 'franka_emika_panda', 'scene.xml')
print(model_filepath)

if __name__=="__main__":
    m = mujoco.MjModel.from_xml_path(model_filepath)
    d = mujoco.MjData(m)

    with mujoco.viewer.launch_passive(
        model=m, 
        data=d,
        show_left_ui=False,
        show_right_ui=False,
        ) as viewer:

        env = FrankaEnv(
        m, 
        d, 
        command_interface="effort",
        control_steps=5, 
        control_timer_freq=1e-2,
        )

        # run interactive viewer application
        while viewer.is_running():
            time.sleep(0.05)
            env.is_syncing = True
            viewer.sync()
            env.is_syncing = False

This results in the following backtrace for the segfault:

(gdb) bt
#0  mj_kinematics (m=0x555555d63680, d=0x555555db2180) at /home/peter/Code/temp/ros2_robotics_research_toolkit/build/mujoco_ros_py/_deps/mujoco-src/src/engine/engine_core_smooth.c:82
#1  0x00007fffb84712a6 in mj_fwdPosition (m=0x555555d63680, d=0x555555db2180) at /home/peter/Code/temp/ros2_robotics_research_toolkit/build/mujoco_ros_py/_deps/mujoco-src/src/engine/engine_forward.c:127
#2  0x00007fffb847514a in mj_forwardSkip (m=0x555555d63680, d=0x555555db2180, skipstage=0, skipsensor=0)
    at /home/peter/Code/temp/ros2_robotics_research_toolkit/build/mujoco_ros_py/_deps/mujoco-src/src/engine/engine_forward.c:996
#3  0x00007fffb8475302 in mj_forward (m=0x555555d63680, d=0x555555db2180) at /home/peter/Code/temp/ros2_robotics_research_toolkit/build/mujoco_ros_py/_deps/mujoco-src/src/engine/engine_forward.c:1035
#4  0x00007fffb8a9311a in franka_table::FrankaTableEnv::init_scene (this=0x555555e723e0) at /home/peter/Code/temp/ros2_robotics_research_toolkit/src/mujoco/mujoco_ros/src/franka_table.cpp:208
#5  0x00007fffb8a91bac in franka_table::FrankaTableEnv::FrankaTableEnv (this=0x555555e723e0, model=..., data=..., command_interface="effort", control_steps=5, control_timer_freq=0.01)
    at /home/peter/Code/temp/ros2_robotics_research_toolkit/src/mujoco/mujoco_ros/src/franka_table.cpp:52
#6  0x00007fffb8a942dc in operator() (__closure=0x555555d61ce8, model=..., data=..., command_interface="effort", control_steps=5, control_timer_freq=0.01)
    at /home/peter/Code/temp/ros2_robotics_research_toolkit/src/mujoco/mujoco_ros/src/franka_table.cpp:353
#7  0x00007fffb8a94f47 in operator() (__closure=0x555555d61ce8, v_h=..., args#0=..., args#1=..., args#2="", args#3=5, args#4=0.01) at /usr/include/pybind11/detail/init.h:242
#8  0x00007fffb8a96efb in pybind11::detail::argument_loader<pybind11::detail::value_and_holder&, pybind11::object, pybind11::object, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, double>::call_impl<void, pybind11::detail::initimpl::factory<pybind11_init_franka_env(pybind11::module_&)::<lambda(pybind11::object, pybind11::object, std::string, int, double)>, pybind11::detail::void_type (*)(), std::shared_ptr<franka_table::FrankaTableEnv>(pybind11::object, pybind11::object, std::__cxx11::basic_string<char>, int, double), pybind11::detail::void_type()>::execute<pybind11::class_<franka_table::FrankaTableEnv, std::shared_ptr<franka_table::FrankaTableEnv> >, pybind11::arg, pybind11::arg, pybind11::arg_v, pybind11::arg_v, pybind11::arg_v, pybind11::return_value_policy, char [49]>(pybind11::class_<franka_table::FrankaTableEnv, std::shared_ptr<franka_table::FrankaTableEnv> >&, const pybind11::arg&, const pybind11::arg&, const pybind11::arg_v&, const pybind11::arg_v&, const pybind11::arg_v&, const pybind11::return_value_policy&, char const (&)[49]) &&::<lambda(pybind11::detail::value_and_holder&, pybind11::object, pybind11::object, std::__cxx11::basic_string<char>, int, double)>&, 0, 1, 2, 3, 4, 5, pybind11::detail::void_type>(struct {...} &, std::index_sequence, pybind11::detail::void_type &&) (this=0x7fffffff5630, f=...) at /usr/include/pybind11/cast.h:1207
#9  0x00007fffb8a96c8c in pybind11::detail::argument_loader<pybind11::detail::value_and_holder&, pybind11::object, pybind11::object, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, int, double>::call<void, pybind11::detail::void_type, pybind11::detail::initimpl::factory<pybind11_init_franka_env(pybind11::module_&)::<lambda(pybind11::object, pybind11::object, std::string, int, double)>, pybind11::detail::void_type (*)(), std::shared_ptr<franka_table::FrankaTableEnv>(pybind11::object, pybind11::object, std::__cxx11::basic_string<char>, int, double), pybind11::detail::void_type()>::execute<pybind11::class_<franka_table::FrankaTableEnv, std::shared_ptr<franka_table::FrankaTableEnv> >, pybind11::arg, pybind11::arg, pybind11::arg_v, pybind11::arg_v, pybind11::arg_v, pybind11::return_value_policy, char [49]>(pybind11::class_<franka_table::FrankaTableEnv, std::shared_ptr<franka_table::FrankaTableEnv> >&, const pybind11::arg&, const pybind11::arg&, const pybind11::arg_v&, const pybind11::arg_v&, const pybind11::arg_v&, const pybind11::return_value_policy&, char const (&)[49]) &&::<lambda(pybind11::detail::value_and_holder&, pybind11::object, pybind11::object, std::__cxx11::basic_string<char>, int, double)>&>(struct {...} &) (this=0x7fffffff5630, f=...) at /usr/include/pybind11/cast.h:1184
#10 0x00007fffb8a96347 in operator() (__closure=0x0, call=...) at /usr/include/pybind11/pybind11.h:233
#11 0x00007fffb8a963e8 in _FUN () at /usr/include/pybind11/pybind11.h:210
#12 0x00007fffb8aab20c in pybind11::cpp_function::dispatcher (self=0x7fffb8f2d470, args_in=0x7fffb8f26bc0, kwargs_in=0x7ffff37d2c40) at /usr/include/pybind11/pybind11.h:835
#13 0x00007ffff7b12713 in cfunction_call (func=0x7fffb8f32cf0, args=<optimised out>, kwargs=<optimised out>) at Objects/methodobject.c:543
#14 0x00007ffff7ac935c in _PyObject_MakeTpCall (tstate=0x55555557e350, callable=0x7fffb8f32cf0, args=<optimised out>, nargs=3, keywords=0x7fffb8f26a00) at Objects/call.c:215
#15 0x00007ffff7acc172 in _PyObject_VectorcallTstate (kwnames=0x7fffb8f26a00, nargsf=3, args=0x7fffb8f2dda0, callable=0x7fffb8f32cf0, tstate=0x55555557e350) at ./Include/cpython/abstract.h:112
#16 _PyObject_VectorcallTstate (kwnames=0x7fffb8f26a00, nargsf=3, args=0x7fffb8f2dda0, callable=0x7fffb8f32cf0, tstate=0x55555557e350) at ./Include/cpython/abstract.h:99
--Type <RET> for more, q to quit, c to continue without paging--
#17 method_vectorcall (method=<optimised out>, args=0x7fffb8f2dda8, nargsf=<optimised out>, kwnames=0x7fffb8f26a00) at Objects/classobject.c:53
#18 0x00007ffff7ac8fe8 in PyVectorcall_Call (callable=0x7ffff7391bc0, tuple=<optimised out>, kwargs=<optimised out>) at Objects/call.c:267
#19 0x00007ffff7b37202 in slot_tp_init (self=0x7ffff73e9830, args=0x7fffb63f9a00, kwds=0x7ffff7376980) at Objects/typeobject.c:7737
#20 0x00007ffff7b2ed3e in type_call (type=<optimised out>, args=0x7fffb63f9a00, kwds=0x7ffff7376980) at Objects/typeobject.c:1135
#21 0x00007fffb8aa5495 in pybind11::detail::pybind11_meta_call (type=0x555555d61db0, args=0x7fffb63f9a00, kwargs=0x7ffff7376980) at /usr/include/pybind11/detail/class.h:174
#22 0x00007ffff7ac935c in _PyObject_MakeTpCall (tstate=0x55555557e350, callable=0x555555d61db0, args=<optimised out>, nargs=2, keywords=0x7ffff75c4dc0) at Objects/call.c:215
#23 0x00007ffff7a72966 in _PyObject_VectorcallTstate (kwnames=0x7ffff75c4dc0, nargsf=9223372036854775810, args=0x7ffff7929bb0, callable=0x555555d61db0, tstate=<optimised out>)
    at ./Include/cpython/abstract.h:112
#24 _PyObject_VectorcallTstate (kwnames=0x7ffff75c4dc0, nargsf=9223372036854775810, args=0x7ffff7929bb0, callable=0x555555d61db0, tstate=<optimised out>) at ./Include/cpython/abstract.h:99
#25 PyObject_Vectorcall (kwnames=0x7ffff75c4dc0, nargsf=9223372036854775810, args=0x7ffff7929bb0, callable=0x555555d61db0) at ./Include/cpython/abstract.h:123
#26 call_function (kwnames=0x7ffff75c4dc0, oparg=<optimised out>, pp_stack=<synthetic pointer>, trace_info=0x7fffffff5e40, tstate=0x55555557e350) at Python/ceval.c:5891
#27 _PyEval_EvalFrameDefault (tstate=<optimised out>, f=<optimised out>, throwflag=<optimised out>) at Python/ceval.c:4231
#28 0x00007ffff7bbbaa0 in _PyEval_EvalFrame (throwflag=0, f=0x7ffff7929a40, tstate=0x55555557e350) at ./Include/internal/pycore_ceval.h:46
#29 _PyEval_Vector (kwnames=0x0, argcount=0, args=0x0, locals=0x7ffff754b900, con=0x7fffffff5f20, tstate=0x55555557e350) at Python/ceval.c:5065
#30 PyEval_EvalCode (co=co@entry=0x7ffff75c8b30, globals=globals@entry=0x7ffff754b900, locals=locals@entry=0x7ffff754b900) at Python/ceval.c:1134
#31 0x00007ffff7c022ad in run_eval_code_obj (locals=0x7ffff754b900, globals=0x7ffff754b900, co=0x7ffff75c8b30, tstate=0x55555557e350) at Python/pythonrun.c:1291
#32 run_mod (mod=<optimised out>, filename=filename@entry=0x7ffff75c90b0, globals=globals@entry=0x7ffff754b900, locals=locals@entry=0x7ffff754b900, flags=flags@entry=0x7fffffff6098, 
    arena=arena@entry=0x7ffff79feb70) at Python/pythonrun.c:1312
#33 0x00007ffff7c03476 in pyrun_file (flags=0x7fffffff6098, closeit=<optimised out>, locals=0x7ffff754b900, globals=0x7ffff754b900, start=257, filename=0x7ffff75c90b0, fp=0x555555559390)
    at Python/pythonrun.c:1208
#34 _PyRun_SimpleFileObject (fp=fp@entry=0x555555559390, filename=filename@entry=0x7ffff75c90b0, closeit=closeit@entry=1, flags=flags@entry=0x7fffffff6098) at Python/pythonrun.c:456
#35 0x00007ffff7c03a0f in _PyRun_AnyFileObject (fp=0x555555559390, filename=filename@entry=0x7ffff75c90b0, closeit=closeit@entry=1, flags=flags@entry=0x7fffffff6098) at Python/pythonrun.c:90
#36 0x00007ffff7c236e3 in pymain_run_file_obj (skip_source_first_line=0, filename=0x7ffff75c90b0, program_name=0x7ffff7939ae0) at Modules/main.c:353
#37 pymain_run_file (config=0x55555555f520) at Modules/main.c:372
#38 pymain_run_python (exitcode=0x7fffffff6090) at Modules/main.c:587
#39 Py_RunMain () at Modules/main.c:666
#40 0x00007ffff7c23fbe in pymain_main (args=0x7fffffff6190) at Modules/main.c:696
#41 Py_BytesMain (argc=<optimised out>, argv=<optimised out>) at Modules/main.c:720
#42 0x00007ffff7629d90 in __libc_start_call_main (main=main@entry=0x555555555060 <main>, argc=argc@entry=2, argv=argv@entry=0x7fffffff6318) at ../sysdeps/nptl/libc_start_call_main.h:58
#43 0x00007ffff7629e40 in __libc_start_main_impl (main=0x555555555060 <main>, argc=2, argv=0x7fffffff6318, init=<optimised out>, fini=<optimised out>, rtld_fini=<optimised out>, stack_end=0x7fffffff6308)
    at ../csu/libc-start.c:392
#44 0x0000555555555095 in _start ()

google-deepmind / mujoco

MuJoCo ROS Integration - segmentation faults in model instance (from version 3.1.1 -> ^3.1.2) #1698