Error: Jacobian mis:allocation

[aryakeyvan-star]

Intro

Hi!

I am a graduate student using MuJoCo 3.2.3 on ubuntu

My setup

Mujoco v3,2,3

My question

I am having the same issue as #2187 . I am getting (Error: engine error: mj_makeConstraint: constraint Jacobian mis-allocation: found nnzJ=72 but allocated 48).

Are there any workarounds to solve this issue and when will the bug fix happen?

Minimal model and/or code that explain my question

If you encountered the issue in a complex model, please simplify it as much as possible (while still reproducing the issue).

Model:

minimal XML

<mujoco>
  <worldbody>
    <light pos="0 0 1"/>
    <geom type="sphere" size="1" rgba="1 0 0 1"/>
  </worldbody>
</mujoco>

Code:

import mujoco
import mediapy as media
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)

with mujoco.Renderer(model) as renderer:
  mujoco.mj_forward(model, data)
  renderer.update_scene(data)

  media.show_image(renderer.render())

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

The solution is in the issue you referenced and in the 3.2.5 changelog: upgrade to version >=3.2.5