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Fix hidden skin array buffer #3481

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Merged
copybara-service merged 2 commits into from
Aug 25, 2026
Merged

Fix hidden skin array buffer #3481

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9299a56
Reset array buffer before 2D rendering
sylvesterkaczmarek Aug 14, 2026
f78d23f
Add hidden skin figure regression test
sylvesterkaczmarek Aug 14, 2026
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57 changes: 57 additions & 0 deletions python/mujoco/render_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,63 @@ def test_can_render(self):
np.testing.assert_array_equal(upside_down_image, expected_upside_down_image)
context.free()

def test_figure_renders_after_hidden_skin(self):
xml = """
<mujoco>
<worldbody>
<body name="box" pos="0 0 1">
<freejoint/>
<geom type="sphere" size="0.1"/>
</body>
</worldbody>
<deformable>
<skin name="triangle" group="3"
vertex="0 0 0 0.2 0 0 0 0.2 0" face="0 1 2">
<bone body="box" bindpos="0 0 0" bindquat="1 0 0 0"
vertid="0 1 2" vertweight="1 1 1"/>
</skin>
</deformable>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
mujoco.mj_forward(model, data)

scene = mujoco.MjvScene(model, maxgeom=10)
mujoco.mjv_updateScene(
model,
data,
mujoco.MjvOption(),
None,
mujoco.MjvCamera(),
mujoco.mjtCatBit.mjCAT_ALL,
scene,
)

context = mujoco.MjrContext(model, mujoco.mjtFontScale.mjFONTSCALE_150)
mujoco.mjr_setBuffer(mujoco.mjtFramebuffer.mjFB_OFFSCREEN, context)
full_rect = mujoco.MjrRect(0, 0, 640, 480)
mujoco.mjr_render(full_rect, scene, context)

figure = mujoco.MjvFigure()
mujoco.mjv_defaultFigure(figure)
figure.flg_legend = 0
figure.flg_extend = 0
figure.range[0][:] = (-1.0, 1.0)
figure.range[1][:] = (-1.0, 1.0)
figure.linergb[0] = (1.0, 0.0, 1.0)
figure.linedata[0][0:4] = (-1.0, -1.0, 1.0, 1.0)
figure.linepnt[0] = 2
mujoco.mjr_figure(full_rect, figure, context)

image = np.empty((480, 640, 3), dtype=np.uint8)
mujoco.mjr_readPixels(image, None, full_rect, context)
magenta = (image[:, :, 0] > 200) & (image[:, :, 1] < 100) & (
image[:, :, 2] > 200
)
self.assertGreater(np.count_nonzero(magenta), 0)
context.free()

def test_safe_to_free_context_twice(self):
self.model = mujoco.MjModel.from_xml_string('<mujoco><worldbody/></mujoco>')
self.data = mujoco.MjData(self.model)
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1 change: 1 addition & 0 deletions src/render/classic/render_gl2.c
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Original file line number Diff line number Diff line change
Expand Up @@ -413,6 +413,7 @@ static void init2D(void) {
glDisable(GL_LIGHTING);
glDisable(GL_COLOR_MATERIAL);
glDisable(GL_BLEND);
glBindBuffer(GL_ARRAY_BUFFER, 0);
glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
glPolygonMode(GL_FRONT_AND_BACK, GL_FILL);

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