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Check mjs_getName return value in XML parser. Fixes #2898.

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PiperOrigin-RevId: 819351410
Change-Id: I0807d71328068f6388991ae15274c7d61b4d3e53
This commit is contained in:
Alessio Quaglino
2025-10-14 12:38:51 -07:00
committed by Copybara-Service
parent 67960543a0
commit b6f25ca623
11 changed files with 152 additions and 63 deletions
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src/xml/xml_native_reader.cc
+77 -29
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@@ -1401,7 +1401,9 @@ void mjXReader::OneFlex(XMLElement* elem, mjsFlex* flex) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(flex->element, name.c_str());
if (mjs_setName(flex->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "material", material)) {
mjs_setString(flex->material, material.c_str());
@@ -1495,7 +1497,9 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(mesh->element, name.c_str());
if (mjs_setName(mesh->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "content_type", content_type)) {
*mesh->content_type = content_type;
@@ -1568,7 +1572,7 @@ void mjXReader::OneMesh(XMLElement* elem, mjsMesh* mesh, const mjVFS* vfs) {
throw mjXError(elem, "builtin mesh cannot be used with user vertex data");
}
if (mjs_makeMesh(mesh, (mjtMeshBuiltin)n, params.data(), nparams)) {
throw mjXError(elem, mjs_getError(spec));
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
@@ -1590,7 +1594,9 @@ void mjXReader::OneSkin(XMLElement* elem, mjsSkin* skin, const mjVFS* vfs) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(skin->element, name.c_str());
if (mjs_setName(skin->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
auto file = ReadAttrFile(elem, "file", vfs, AssetDir());
if (file.has_value()) {
@@ -1680,7 +1686,9 @@ void mjXReader::OneMaterial(XMLElement* elem, mjsMaterial* material) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(material->element, name.c_str());
if (mjs_setName(material->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
bool tex_attributes_found = false;
@@ -1729,7 +1737,9 @@ void mjXReader::OneJoint(XMLElement* elem, mjsJoint* joint) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(joint->element, name.c_str());
if (mjs_setName(joint->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (MapValue(elem, "type", &n, joint_map, joint_sz)) {
joint->type = (mjtJoint)n;
@@ -1777,7 +1787,9 @@ void mjXReader::OneGeom(XMLElement* elem, mjsGeom* geom) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(geom->element, name.c_str());
if (mjs_setName(geom->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
geom->type = (mjtGeom)n;
@@ -1849,7 +1861,9 @@ void mjXReader::OneSite(XMLElement* elem, mjsSite* site) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(site->element, name.c_str());
if (mjs_setName(site->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (MapValue(elem, "type", &n, geom_map, mjNGEOMTYPES)) {
site->type = (mjtGeom)n;
@@ -1882,7 +1896,9 @@ void mjXReader::OneCamera(XMLElement* elem, mjsCamera* camera) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(camera->element, name.c_str());
if (mjs_setName(camera->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "target", targetbody)) {
mjs_setString(camera->targetbody, targetbody.c_str());
@@ -1937,7 +1953,9 @@ void mjXReader::OneLight(XMLElement* elem, mjsLight* light) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(light->element, name.c_str());
if (mjs_setName(light->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "texture", texture)) {
mjs_setString(light->texture, texture.c_str());
@@ -1998,7 +2016,9 @@ void mjXReader::OnePair(XMLElement* elem, mjsPair* pair) {
// read other parameters
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(pair->element, name.c_str());
if (mjs_setName(pair->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
ReadAttrInt(elem, "condim", &pair->condim);
ReadAttr(elem, "solref", mjNREF, pair->solref, text, false, false);
@@ -2026,7 +2046,9 @@ void mjXReader::OneEquality(XMLElement* elem, mjsEquality* equality) {
// regular only
if (!readingdefaults) {
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(equality->element, name.c_str());
if (mjs_setName(equality->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
switch (equality->type) {
@@ -2162,7 +2184,9 @@ void mjXReader::OneTendon(XMLElement* elem, mjsTendon* tendon) {
// read attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(tendon->element, name.c_str());
if (mjs_setName(tendon->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
ReadAttrInt(elem, "group", &tendon->group);
if (ReadAttrTxt(elem, "material", material)) {
@@ -2205,7 +2229,9 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
// common attributes
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(actuator->element, name.c_str());
if (mjs_setName(actuator->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
ReadAttrInt(elem, "group", &actuator->group);
MapValue(elem, "ctrllimited", &actuator->ctrllimited, TFAuto_map, 3);
@@ -2956,7 +2982,9 @@ void mjXReader::Custom(XMLElement* section) {
// read attributes
ReadAttrTxt(elem, "name", elname, true);
mjs_setName(numeric->element, elname.c_str());
if (mjs_setName(numeric->element, elname.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
if (ReadAttrInt(elem, "size", &numeric->size)) {
int sz = numeric->size < 500 ? numeric->size : 500;
for (int i=0; i < sz; i++) {
@@ -2987,7 +3015,9 @@ void mjXReader::Custom(XMLElement* section) {
// read attributes
ReadAttrTxt(elem, "name", elname, true);
mjs_setName(text->element, elname.c_str());
if (mjs_setName(text->element, elname.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
ReadAttrTxt(elem, "data", str, true);
if (str.empty()) {
throw mjXError(elem, "text field cannot be empty");
@@ -3007,7 +3037,9 @@ void mjXReader::Custom(XMLElement* section) {
// read attributes
ReadAttrTxt(elem, "name", elname, true);
mjs_setName(tuple->element, elname.c_str());
if (mjs_setName(tuple->element, elname.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
// read objects and add
XMLElement* obj = FirstChildElement(elem);
@@ -3223,7 +3255,9 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
texture->colorspace = (mjtColorSpace)n;
}
if (ReadAttrTxt(elem, "name", texname)) {
mjs_setName(texture->element, texname.c_str());
if (mjs_setName(texture->element, texname.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "content_type", content_type)) {
mjs_setString(texture->content_type, content_type.c_str());
@@ -3315,7 +3349,9 @@ void mjXReader::Asset(XMLElement* section, const mjVFS* vfs) {
// read attributes
string name, content_type;
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(hfield->element, name.c_str());
if (mjs_setName(hfield->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "content_type", content_type)) {
mjs_setString(hfield->content_type, content_type.c_str());
@@ -3482,7 +3518,9 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// read attributes
string name;
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(joint->element, name.c_str());
if (mjs_setName(joint->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
ReadAttrInt(elem, "group", &joint->group);
MapValue(elem, "align", &joint->align, TFAuto_map, 3);
@@ -3554,7 +3592,9 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// read attributes
string name, childclass;
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(pframe->element, name.c_str());
if (mjs_setName(pframe->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "childclass", childclass)) {
mjs_setString(pframe->childclass, childclass.c_str());
@@ -3626,13 +3666,13 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// attach to parent
if (!mjs_attach(body->element, pframe->element, /*prefix=*/"", suffix.c_str())) {
throw mjXError(elem, mjs_getError(spec));
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
// delete subtree
if (mjs_delete(spec, subtree->element)) {
throw mjXError(elem, mjs_getError(spec));
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
@@ -3655,7 +3695,9 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
// read attributes
string name, childclass;
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(child->element, name.c_str());
if (mjs_setName(child->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
if (ReadAttrTxt(elem, "childclass", childclass)) {
mjs_setString(child->childclass, childclass.c_str());
@@ -3708,12 +3750,12 @@ void mjXReader::Body(XMLElement* section, mjsBody* body, mjsFrame* frame,
child = child_body->element;
}
if (!mjs_attach(pframe->element, child, prefix.c_str(), "")) {
throw mjXError(elem, mjs_getError(spec));
throw mjXError(elem, "%s", mjs_getError(spec));
}
} else {
// only set frame to existing body
if (mjs_setFrame(child_body->element, pframe)) {
throw mjXError(elem, mjs_getError(spec));
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
}
@@ -3764,7 +3806,9 @@ void mjXReader::Contact(XMLElement* section) {
// read name and body names
if (ReadAttrTxt(elem, "name", exname)) {
mjs_setName(exclude->element, exname.c_str());
if (mjs_setName(exclude->element, exname.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
ReadAttrTxt(elem, "body1", exbody1, true);
mjs_setString(exclude->bodyname1, exbody1.c_str());
@@ -3946,7 +3990,9 @@ void mjXReader::Sensor(XMLElement* section) {
// read name, noise, userdata
if (ReadAttrTxt(elem, "name", name)) {
mjs_setName(sensor->element, name.c_str());
if (mjs_setName(sensor->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
}
ReadAttr(elem, "cutoff", 1, &sensor->cutoff, text);
ReadAttr(elem, "noise", 1, &sensor->noise, text);
@@ -4377,7 +4423,9 @@ void mjXReader::Keyframe(XMLElement* section) {
// read name, time
ReadAttrTxt(elem, "name", name);
mjs_setName(key->element, name.c_str());
if (mjs_setName(key->element, name.c_str())) {
throw mjXError(elem, "%s", mjs_getError(spec));
}
ReadAttr(elem, "time", 1, &key->time, text);
// read qpos