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Remove arbitrary limit of a 1000 elements from certain attributes. Fixes #2166.

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PiperOrigin-RevId: 689343609
Change-Id: I7cbf5007884433807c76c6c309cb4a858479d34d
This commit is contained in:
Kyle Bayes
2024-10-24 05:36:15 -07:00
committed by Copybara-Service
parent ca348632a9
commit 1043633cc3
1 changed files with 18 additions and 20 deletions
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src/xml/xml_native_reader.cc
+18 -20
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@@ -4258,8 +4258,6 @@ void mjXReader::Sensor(XMLElement* section) {
// keyframe section parser // keyframe section parser
void mjXReader::Keyframe(XMLElement* section) { void mjXReader::Keyframe(XMLElement* section) {
XMLElement* elem; XMLElement* elem;
int n;
double data[1000];
// iterate over child elements // iterate over child elements
elem = FirstChildElement(section); elem = FirstChildElement(section);
@@ -4275,39 +4273,39 @@ void mjXReader::Keyframe(XMLElement* section) {
ReadAttr(elem, "time", 1, &key->time, text); ReadAttr(elem, "time", 1, &key->time, text);
// read qpos // read qpos
n = ReadAttr(elem, "qpos", 1000, data, text, false, false); auto maybe_data = ReadAttrVec<double>(elem, "qpos", false);
if (n) { if (maybe_data.has_value()) {
mjs_setDouble(key->qpos, data, n); mjs_setDouble(key->qpos, maybe_data->data(), maybe_data->size());
} }
// read qvel // read qvel
n = ReadAttr(elem, "qvel", 1000, data, text, false, false); maybe_data = ReadAttrVec<double>(elem, "qvel", false);
if (n) { if (maybe_data.has_value()) {
mjs_setDouble(key->qvel, data, n); mjs_setDouble(key->qvel, maybe_data->data(), maybe_data->size());
} }
// read act // read act
n = ReadAttr(elem, "act", 1000, data, text, false, false); maybe_data = ReadAttrVec<double>(elem, "act", false);
if (n) { if (maybe_data.has_value()) {
mjs_setDouble(key->act, data, n); mjs_setDouble(key->act, maybe_data->data(), maybe_data->size());
} }
// read mpos // read mpos
n = ReadAttr(elem, "mpos", 1000, data, text, false, false); maybe_data = ReadAttrVec<double>(elem, "mpos", false);
if (n) { if (maybe_data.has_value()) {
mjs_setDouble(key->mpos, data, n); mjs_setDouble(key->mpos, maybe_data->data(), maybe_data->size());
} }
// read mquat // read mquat
n = ReadAttr(elem, "mquat", 1000, data, text, false, false); maybe_data = ReadAttrVec<double>(elem, "mquat", false);
if (n) { if (maybe_data.has_value()) {
mjs_setDouble(key->mquat, data, n); mjs_setDouble(key->mquat, maybe_data->data(), maybe_data->size());
} }
// read ctrl // read ctrl
n = ReadAttr(elem, "ctrl", 1000, data, text, false, false); maybe_data = ReadAttrVec<double>(elem, "ctrl", false);
if (n) { if (maybe_data.has_value()) {
mjs_setDouble(key->ctrl, data, n); mjs_setDouble(key->ctrl, maybe_data->data(), maybe_data->size());
} }
// advance to next element // advance to next element