Handle invalid joint type in URDF conversion. Fixes #317.

PiperOrigin-RevId: 454798685 Change-Id: Ic29a3756e78f8714ed8acc70b10e115c3df46561
google-deepmind · Jun 14, 2022 · 0e19187 · 0e19187
1 parent 8dda269
commit 0e19187
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/src/xml/xml_urdf.cc b/src/xml/xml_urdf.cc
@@ -307,6 +307,9 @@ void mjXURDF::Joint(XMLElement* joint_elem) {
   // get type and name
   ReadAttrTxt(joint_elem, "type", text, true);
   jointtype = FindKey(urJoint_map, urJoint_sz, text);
+  if (jointtype < 0) {
+    mjXError(joint_elem, "invalid joint type in URDF joint definition");
+  }
   ReadAttrTxt(joint_elem, "name", jntname, true);
 
   // get parent, check