chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix cylinder bias stack overrun in XML parsing

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_native_reader.cc
+5 -3
View File
@@ -2619,14 +2619,16 @@ void mjXReader::OneActuator(XMLElement* elem, mjsActuator* actuator) {
// cylinder // cylinder
else if (type == "cylinder") { else if (type == "cylinder") {
double timeconst = actuator->dynprm[0]; 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 area = actuator->gainprm[0];
double diameter = -1; double diameter = -1;
ReadAttr(elem, "timeconst", 1, &timeconst, text); 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, "area", 1, &area, text);
ReadAttr(elem, "diameter", 1, &diameter, 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 // muscle