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Validate that fields like mjModel.body_jntnum don't contain negative values.

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PiperOrigin-RevId: 466733848
Change-Id: I0b1f41fa8841c678307f2185aac4c46a2fd40396
This commit is contained in:
Nimrod Gileadi
2022-08-10 10:56:58 -07:00
committed by Copybara-Service
parent e3ded23c66
commit 01c297cddd
2 changed files with 31 additions and 1 deletions
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src/engine/engine_io.c
+5 -1
View File
@@ -1282,7 +1282,11 @@ const char* mj_validateReferences(const mjModel* m) {
int *nums = (numarray); \
for (int i=0; i<m->nadrs; i++) { \
int adrsmin = m->adrarray[i]; \
int adrsmax = m->adrarray[i] + (nums ? nums[i] : 1); \
int num = (nums ? nums[i] : 1); \
if (num < 0) { \
return "Invalid model: " #numarray " is negative."; \
} \
int adrsmax = m->adrarray[i] + num; \
if (adrsmax > m->ntarget || adrsmin < -1) { \
return "Invalid model: " #adrarray " out of bounds."; \
} \
test/engine/engine_io_test.cc
+26
View File
@@ -257,6 +257,32 @@ TEST_F(ValidateReferencesTest, AddressRange) {
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, AddressRangeNegativeNum) {
static const char xml[] = R"(
<mujoco>
<worldbody>
<body>
<joint/>
<joint/>
<geom size="1"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << "Failed to load model: " << error.data();
EXPECT_THAT(mj_validateReferences(model), IsNull());
// jntadr + jntnum is within safe range, but jntnum is negative.
model->body_jntadr[1] += 5;
model->body_jntnum[1] -= 5;
EXPECT_THAT(mj_validateReferences(model), HasSubstr("body_jntnum"));
mj_deleteModel(model);
}
TEST_F(ValidateReferencesTest, GeomCondim) {
static const char xml[] = R"(
<mujoco>