From f8c5ad2ba8fb879fffa1688f7f22723a0cb675bd Mon Sep 17 00:00:00 2001
From: Nimrod Gileadi <nimrod@google.com>
Date: Wed, 25 Oct 2023 12:25:33 -0700
Subject: [PATCH] Check for errors when calling std::stod in XML loading.

PiperOrigin-RevId: 576608985
Change-Id: I148ca67d8960d73c281df2d6f2440d47940a6369
---
 src/user/user_composite.cc                |  7 ++++++-
 src/user/user_mesh.cc                     | 14 ++++++++++----
 test/plugin/elasticity/elasticity_test.cc | 23 +++++++++++++++++++++++
 3 files changed, 39 insertions(+), 5 deletions(-)

diff --git a/src/user/user_composite.cc b/src/user/user_composite.cc
index 03c8e9b6..b82fb680 100644
--- a/src/user/user_composite.cc
+++ b/src/user/user_composite.cc
@@ -20,6 +20,7 @@
 #include <cstdio>
 #include <cstring>
 #include <map>
+#include <stdexcept>
 #include <string>
 #include <utility>
 #include <vector>
@@ -406,7 +407,11 @@ bool mjCComposite::MakeParticle(mjCModel* model, mjCBody* body, char* error, int
   std::vector<mjtNum> volume(uservert.size()/3);
   mjtNum t = 1;
   if (dim == 2 && plugin_instance) {
-    t = stod(plugin_instance->config_attribs["thickness"], nullptr);
+    try {
+      t = std::stod(plugin_instance->config_attribs["thickness"], nullptr);
+    } catch (const std::invalid_argument& e) {
+      return comperr(error, "Invalid thickness attribute", error_sz);
+    }
   }
   if (!userface.empty()) {
     mjXUtil::String2Vector(userface, face);
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index b0e1175a..0c70f03a 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -21,6 +21,7 @@
 #include <functional>
 #include <memory>
 #include <optional>
+#include <stdexcept>
 #include <string>
 #include <unordered_map>
 #include <utility>
@@ -303,13 +304,18 @@ void mjCMesh::LoadSDF() {
   }
 
   int i=0;
-  mjtNum attributes[10] = {0};
+  std::vector<mjtNum> attributes(plugin->nattribute, 0);
   for (auto const& pair : plugin_instance->config_attribs) {
-    attributes[i++] = std::stod(pair.second);
+    try {
+      attributes[i++] = std::stod(pair.second);
+    } catch (const std::invalid_argument& e) {
+      throw mjCError(this, "invalid attribute value for '%s'",
+                     pair.first.c_str());
+    }
   }
 
   mjtNum aabb[6] = {0};
-  plugin->sdf_aabb(aabb, attributes);
+  plugin->sdf_aabb(aabb, attributes.data());
   mjtNum total = aabb[3] + aabb[4] + aabb[5];
 
   const mjtNum n = 300;
@@ -325,7 +331,7 @@ void mjCMesh::LoadSDF() {
         mjtNum point[] = {aabb[0]-aabb[3] + 2 * aabb[3] * i / (nx-1),
                           aabb[1]-aabb[4] + 2 * aabb[4] * j / (ny-1),
                           aabb[2]-aabb[5] + 2 * aabb[5] * k / (nz-1)};
-        field[(k * ny + j) * nx + i] =  plugin->sdf_staticdistance(point, attributes);
+        field[(k * ny + j) * nx + i] =  plugin->sdf_staticdistance(point, attributes.data());
       }
     }
   }
diff --git a/test/plugin/elasticity/elasticity_test.cc b/test/plugin/elasticity/elasticity_test.cc
index 3bbfd040..ae240eba 100644
--- a/test/plugin/elasticity/elasticity_test.cc
+++ b/test/plugin/elasticity/elasticity_test.cc
@@ -303,6 +303,29 @@ TEST_F(ElasticityTest, InvalidMixedAttribute) {
   ASSERT_THAT(m, testing::IsNull());
 }
 
+TEST_F(ElasticityTest, InvalidThickness) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+  <extension>
+    <plugin plugin="mujoco.elasticity.shell"/>
+  </extension>
+
+  <worldbody>
+    <composite type="particle" count="2 2 1" spacing="1">
+      <geom size=".025"/>
+      <plugin plugin="mujoco.elasticity.shell">
+        <config key="thickness" value="hello"/>
+      </plugin>
+    </composite>
+  </worldbody>
+  </mujoco>
+  )";
+
+  char error[1024] = {0};
+  mjModel* m = LoadModelFromString(xml, error, sizeof(error));
+  ASSERT_THAT(m, testing::IsNull());
+}
+
 TEST_F(ElasticityTest, ValidAttributes) {
   static constexpr char cantilever_xml[] = R"(
   <mujoco>