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Fix out of bounds write in clampedDiff in engine_derivative_fd.c

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PiperOrigin-RevId: 535234007
Change-Id: I1ca54df1324346cd250409125939fdf6f63cee04
This commit is contained in:
Yuval Tassa
2023-05-25 06:24:27 -07:00
committed by Copybara-Service
parent c66d79409c
commit cce7fb04d1
1 changed files with 1 additions and 1 deletions
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src/engine/engine_derivative_fd.c
+1 -1
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@@ -122,7 +122,7 @@ static void clampedStateDiff(const mjModel* m, mjtNum* ds, const mjtNum* s, cons
stateDiff(m, ds, s_minus, s_plus, 2*h); stateDiff(m, ds, s_minus, s_plus, 2*h);
} else { } else {
// differencing failed, write zeros // differencing failed, write zeros
mju_zero(ds, m->nq + m->nv + m->na); mju_zero(ds, 2*m->nv + m->na);
} }
} }