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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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test/engine/engine_io_test.cc
+26
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@@ -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>