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Don't allow quat="0 0 0 0" in XML.

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PiperOrigin-RevId: 557535436
Change-Id: Ie71246da5fff67a7cc37cb1801dd88d4a79b5766
This commit is contained in:
Yuval Tassa
2023-08-16 10:46:29 -07:00
committed by Copybara-Service
parent 15d74ba939
commit cf310079e2
4 changed files with 36 additions and 5 deletions
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src/xml/xml_native_reader.cc
+5 -5
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@@ -1414,7 +1414,7 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
ReadAttr(elem, "density", 1, &pgeom->density, text);
ReadAttr(elem, "fromto", 6, pgeom->fromto, text);
ReadAttr(elem, "pos", 3, pgeom->pos, text);
ReadAttr(elem, "quat", 4, pgeom->quat, text);
ReadQuat(elem, "quat", pgeom->quat, text);
ReadAlternative(elem, pgeom->alt);
// compute inertia using either solid or shell geometry
@@ -1441,7 +1441,7 @@ void mjXReader::OneSite(XMLElement* elem, mjCSite* psite) {
ReadAttr(elem, "size", 3, psite->size, text, false, false);
ReadAttrInt(elem, "group", &psite->group);
ReadAttr(elem, "pos", 3, psite->pos, text);
ReadAttr(elem, "quat", 4, psite->quat, text);
ReadQuat(elem, "quat", psite->quat, text);
ReadAttrTxt(elem, "material", psite->material);
ReadAttr(elem, "rgba", 4, psite->rgba, text);
ReadAttr(elem, "fromto", 6, psite->fromto, text);
@@ -1468,7 +1468,7 @@ void mjXReader::OneCamera(XMLElement* elem, mjCCamera* pcam) {
pcam->mode = (mjtCamLight)n;
}
ReadAttr(elem, "pos", 3, pcam->pos, text);
ReadAttr(elem, "quat", 4, pcam->quat, text);
ReadQuat(elem, "quat", pcam->quat, text);
ReadAlternative(elem, pcam->alt);
ReadAttr(elem, "fovy", 1, &pcam->fovy, text);
ReadAttr(elem, "ipd", 1, &pcam->ipd, text);
@@ -2678,7 +2678,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
}
pbody->explicitinertial = true;
ReadAttr(elem, "pos", 3, pbody->ipos, text, true);
ReadAttr(elem, "quat", 4, pbody->iquat, text);
ReadQuat(elem, "quat", pbody->iquat, text);
ReadAttr(elem, "mass", 1, &pbody->mass, text, true);
ReadAttr(elem, "diaginertia", 3, pbody->inertia, text);
ReadAlternative(elem, pbody->ialt);
@@ -2778,7 +2778,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
ReadAttrTxt(elem, "name", pchild->name);
ReadAttrTxt(elem, "childclass", pchild->classname);
ReadAttr(elem, "pos", 3, pchild->pos, text);
ReadAttr(elem, "quat", 4, pchild->quat, text);
ReadQuat(elem, "quat", pchild->quat, text);
if (MapValue(elem, "mocap", &n, bool_map, 2)) {
pchild->mocap = (n==1);
}
src/xml/xml_util.cc
+12
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@@ -715,7 +715,19 @@ template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len
template int mjXUtil::ReadAttr(XMLElement* elem, const char* attr, const int len,
mjtByte* data, string& text, bool required, bool exact);
// read quaternion attribute
// throw error if identically zero
int mjXUtil::ReadQuat(XMLElement* elem, const char* attr, double* data, string& text,
bool required) {
ReadAttr(elem, attr, /*len=*/4, data, text, required, /*exact=*/true);
// check for 0 quaternion
if (data[0] == 0 && data[1] == 0 && data[2] == 0 && data[3] == 0 ) {
throw mjXError(elem, "zero quaternion is not allowed");
}
return 4;
}
// read DOUBLE array into C++ vector, return number read
int mjXUtil::ReadVector(XMLElement* elem, const char* attr,
src/xml/xml_util.h
+3
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@@ -145,6 +145,9 @@ class mjXUtil {
T* data, std::string& text,
bool required = false, bool exact = true);
static int ReadQuat(tinyxml2::XMLElement* elem, const char* attr, double* data,
std::string& text, bool required = false);
// deprecated: use ReadAttrVec
static int ReadVector(tinyxml2::XMLElement* elem, const char* attr,
std::vector<double>& vec, std::string& text, bool required = false);
test/xml/xml_native_reader_test.cc
+16
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@@ -328,6 +328,22 @@ TEST_F(XMLReaderTest, InvalidArrayLength) {
EXPECT_THAT(error.data(), HasSubstr("has too much data"));
}
TEST_F(XMLReaderTest, InvalidQuaternion) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" quat="0 0 0 0"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("zero quaternion is not allowed"));
}
TEST_F(XMLReaderTest, InvalidNumber) {
static constexpr char xml[] = R"(
<mujoco>