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Copybara import of the project:

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6ab68a057443f038a3d844807f205b1c99cab944 by Kevin Zakka <kevinarmandzakka@gmail.com>:

Fix pickle code-execution vulnerability in sysid loaders

Serialize signal_mapping as JSON so the trajectory and time series loaders can use allow_pickle=False, preventing arbitrary code execution from untrusted .npz files.

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3353 from kevinzakka:sysid-disable-pickle-load 6ab68a057443f038a3d844807f205b1c99cab944
PiperOrigin-RevId: 935400242
Change-Id: Iecd907174441fbcfd02c106b912a7ff375c9098c
This commit is contained in:
Kevin Zakka
2026-06-20 15:10:17 -07:00
committed by Copybara-Service
parent 2cacf17071
commit a8eaccd2b6
3 changed files with 51 additions and 19 deletions
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python/mujoco/sysid/_src/trajectory.py
+18 -11
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@@ -102,18 +102,19 @@ class SystemTrajectory:
if self.state is not None:
save_dict["state_times"] = self.state.times
save_dict["state_data"] = self.state.data
save_dict["state_signal_mapping"] = np.array(
self.state.signal_mapping, dtype=object
)
if self.state.signal_mapping:
save_dict["state_signal_mapping"] = np.asarray(
timeseries.encode_signal_mapping(self.state.signal_mapping)
)
if self.control.signal_mapping:
save_dict["control_signal_mapping"] = np.array(
self.control.signal_mapping, dtype=object
save_dict["control_signal_mapping"] = np.asarray(
timeseries.encode_signal_mapping(self.control.signal_mapping)
)
if self.sensordata.signal_mapping:
save_dict["sensordata_signal_mapping"] = np.array(
self.sensordata.signal_mapping, dtype=object
save_dict["sensordata_signal_mapping"] = np.asarray(
timeseries.encode_signal_mapping(self.sensordata.signal_mapping)
)
np.savez(path, **save_dict) # type: ignore
@@ -126,7 +127,7 @@ class SystemTrajectory:
allow_missing_sensors: bool = False,
) -> SystemTrajectory:
"""Load a trajectory from a compressed NumPy archive."""
with np.load(path, allow_pickle=True) as npz:
with np.load(path, allow_pickle=False) as npz:
control_times = npz["control_times"]
control_data = npz["control_data"]
sensordata_times = npz["sensordata_times"]
@@ -137,15 +138,21 @@ class SystemTrajectory:
control_signal_mapping = None
if "control_signal_mapping" in npz:
control_signal_mapping = npz["control_signal_mapping"].item()
control_signal_mapping = timeseries.decode_signal_mapping(
str(npz["control_signal_mapping"])
)
sensordata_signal_mapping = None
if "sensordata_signal_mapping" in npz:
sensordata_signal_mapping = npz["sensordata_signal_mapping"].item()
sensordata_signal_mapping = timeseries.decode_signal_mapping(
str(npz["sensordata_signal_mapping"])
)
state_signal_mapping = None
if "state_signal_mapping" in npz:
state_signal_mapping = npz["state_signal_mapping"].item()
state_signal_mapping = timeseries.decode_signal_mapping(
str(npz["state_signal_mapping"])
)
predicted_rollout = cls(
model=model,