Fix two asan detected memory bugs #329
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I am running through simulate.swift (my port of simulate.cc) with address sanitizer to discover related bugs. Besides ones in my port, there are two in MuJoCo: 1. in maketext, the logic to find . is not protected against j is less than 0 (due to the decreasing logic above), creating out of bound access. 2. in mj_printFormattedData, qfrc_applied should use length nv not nq, otherwise out of bound access could be triggered. Test Plan: Run through the simulate.cc with asan. Before this fix, when presenting profiler view, it will trigger bug google-deepmind#1. When print data, it will trigger bug google-deepmind#2. Both are using model/humanoid/22_humanoids.xml.
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yuvaltassa
approved these changes
Jun 7, 2022
saran-t
approved these changes
Jun 8, 2022
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I am running through simulate.swift (my port of simulate.cc) with
address sanitizer to discover related bugs.
Besides ones in my port, there are two in MuJoCo:
in maketext, the logic to find . is not protected against j is less
than 0 (due to the decreasing logic above), creating out of bound
access.
in mj_printFormattedData, qfrc_applied should use length nv not nq,
otherwise out of bound access could be triggered.
Test Plan:
Run through the simulate.cc with asan. Before this fix, when presenting
profiler view, it will trigger bug #1. When print data, it will trigger
bug #2. Both are using model/humanoid/22_humanoids.xml.