Handle invalid joint type in URDF conversion. Fixes #317.

PiperOrigin-RevId: 454798685 Change-Id: Ic29a3756e78f8714ed8acc70b10e115c3df46561
2022-06-14 01:42:24 -07:00
parent 8dda269c8a
commit 0e1918782a
1 changed files with 3 additions and 0 deletions
@@ -307,6 +307,9 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
  // get type and name
  ReadAttrTxt(joint_elem, "type", text, true);
  jointtype = FindKey(urJoint_map, urJoint_sz, text);
+  if (jointtype < 0) {
+    mjXError(joint_elem, "invalid joint type in URDF joint definition");
+  }
  ReadAttrTxt(joint_elem, "name", jntname, true);

  // get parent, check