From 97d99c84ce5f180e10c7d39ef659bb32c9f37548 Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Mon, 23 Oct 2023 10:07:07 -0700
Subject: [PATCH] Delete the temporary mjData if model reference validation
 fails.

PiperOrigin-RevId: 575852845
Change-Id: I2146dbc510b48c310ac338adcd5d53cb9f38b383
---
 src/user/user_model.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 855aa400..1dfed5fc 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -3098,6 +3098,7 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   m->opt.disableflags |= mjDSBL_CONTACT;
   d = mj_makeData(m);
   if (!d) {
+    mj_deleteModel(m);
     throw mjCError(0, "could not create mjData");
   }
 
@@ -3125,6 +3126,8 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
   // assert that model has valid references
   const char* validationerr = mj_validateReferences(m);
   if (validationerr) {  // SHOULD NOT OCCUR
+    mj_deleteData(d);
+    mj_deleteModel(m);
     throw mjCError(0, validationerr);
   }
   // test forward simulation