From 0e1918782a74ad6664880f68d1137904c65e8955 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Tue, 14 Jun 2022 01:42:24 -0700
Subject: [PATCH] Handle invalid joint type in URDF conversion. Fixes #317.

PiperOrigin-RevId: 454798685
Change-Id: Ic29a3756e78f8714ed8acc70b10e115c3df46561
---
 src/xml/xml_urdf.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
index 7650dcf5..e6610d33 100644
--- a/src/xml/xml_urdf.cc
+++ b/src/xml/xml_urdf.cc
@@ -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