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

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PiperOrigin-RevId: 454798685
Change-Id: Ic29a3756e78f8714ed8acc70b10e115c3df46561
This commit is contained in:
Kevin Zakka
2022-06-14 01:42:24 -07:00
committed by Copybara-Service
parent 8dda269c8a
commit 0e1918782a
1 changed files with 3 additions and 0 deletions
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src/xml/xml_urdf.cc
+3
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@@ -307,6 +307,9 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
// get type and name // get type and name
ReadAttrTxt(joint_elem, "type", text, true); ReadAttrTxt(joint_elem, "type", text, true);
jointtype = FindKey(urJoint_map, urJoint_sz, text); 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); ReadAttrTxt(joint_elem, "name", jntname, true);
// get parent, check // get parent, check