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Fix cylinder bias stack overrun in XML parsing

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PiperOrigin-RevId: 952016771
Change-Id: I49657d41ad96a6bd1f7f9d5e6b6491c5a229d244
This commit is contained in:
Google DeepMind
2026-07-22 03:53:08 -07:00
committed by Copybara-Service
parent 0b1ed5b356
commit d3166cb630
1 changed files with 5 additions and 3 deletions
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src/xml/xml_native_reader.cc
+5 -3
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@@ -2619,14 +2619,16 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
// cylinder
else if (type == "cylinder") {
double timeconst = actuator->dynprm[0];
double bias = actuator->biasprm[0];
double bias[3] = {actuator->biasprm[0], actuator->biasprm[1], actuator->biasprm[2]};
double area = actuator->gainprm[0];
double diameter = -1;
ReadAttr(elem, "timeconst", 1, &timeconst, text);
ReadAttr(elem, "bias", 3, &bias, text);
ReadAttr(elem, "bias", 3, bias, text);
ReadAttr(elem, "area", 1, &area, text);
ReadAttr(elem, "diameter", 1, &diameter, text);
err = mjs_setToCylinder(actuator, timeconst, bias, area, diameter);
err = mjs_setToCylinder(actuator, timeconst, bias[0], area, diameter);
actuator->biasprm[1] = bias[1];
actuator->biasprm[2] = bias[2];
}
// muscle