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Add invalid data checks to the Geometry data #242

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f678dfc
Add support for capsule geometry type
saikishor Jan 27, 2026
e442dc3
Add tests for the capsule geometry
saikishor Jan 30, 2026
a33290a
remove invalid number checks for consistency
saikishor Feb 3, 2026
fe043c9
Add invalid data checks
saikishor Feb 3, 2026
3f53ced
Extend invalid data checks to other geometry entities
saikishor Feb 3, 2026
96c5e26
Merge branch 'rolling' into extend/invalid_data/checks
scpeters Feb 6, 2026
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25 changes: 25 additions & 0 deletions urdf_parser/src/link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,12 @@ bool parseSphere(Sphere &s, tinyxml2::XMLElement *c)
return false;
}

if (!std::isfinite(s.radius) || s.radius <= 0)
{
CONSOLE_BRIDGE_logError("Sphere radius must be a positive finite value");
return false;
}

return true;
}

Expand All @@ -150,6 +156,13 @@ bool parseBox(Box &b, tinyxml2::XMLElement *c)
CONSOLE_BRIDGE_logError("%s", e.what());
return false;
}

if (b.dim.x <= 0 || b.dim.y <= 0 || b.dim.z <= 0)
{
CONSOLE_BRIDGE_logError("Box size must be positive finite values");
return false;
}

return true;
}

Expand Down Expand Up @@ -183,6 +196,12 @@ bool parseCylinder(Cylinder &y, tinyxml2::XMLElement *c)
return false;
}

if (!std::isfinite(y.length) || !std::isfinite(y.radius) || y.length <= 0 || y.radius <= 0)
{
CONSOLE_BRIDGE_logError("Cylinder length and radius must be positive finite values");
return false;
}

return true;
}

Expand Down Expand Up @@ -246,6 +265,12 @@ bool parseCapsule(Capsule &c, tinyxml2::XMLElement *elem)
return false;
}

if (!std::isfinite(c.length) || !std::isfinite(c.radius) || c.length <= 0 || c.radius <= 0)
{
CONSOLE_BRIDGE_logError("Capsule length and radius must be positive finite values");
return false;
}

return true;
}

Expand Down
49 changes: 44 additions & 5 deletions urdf_parser/test/urdf_schema_capsule_geometry_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,16 +112,55 @@ TEST(URDF_UNIT_TEST, parse_capsule_geometry_zero_values)
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);
// Invalid radius/length causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, parse_capsule_geometry_negative_radius_fails)
{
std::string urdf_str = R"urdf(
<robot name="capsule_negative_test" version="1.1">
<link name="link1">
<visual>
<geometry>
<capsule radius="-0.05" length="0.5"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);
// Negative radius causes geometry parsing to fail, visual is empty
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

std::shared_ptr<urdf::Capsule> capsule =
std::dynamic_pointer_cast<urdf::Capsule>(link->visual_array[0]->geometry);
ASSERT_NE(nullptr, capsule);
EXPECT_DOUBLE_EQ(0.0, capsule->radius);
EXPECT_DOUBLE_EQ(0.0, capsule->length);
TEST(URDF_UNIT_TEST, parse_capsule_geometry_negative_length_fails)
{
std::string urdf_str = R"urdf(
<robot name="capsule_negative_length_test" version="1.1">
<link name="link1">
<visual>
<geometry>
<capsule radius="0.05" length="-0.5"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);
// Negative length causes geometry parsing to fail, visual is empty
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, parse_capsule_geometry_missing_radius_fails)
Expand Down
183 changes: 183 additions & 0 deletions urdf_parser/test/urdf_unit_test.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -346,6 +346,189 @@ TEST(URDF_UNIT_TEST, parse_color_doubles)
EXPECT_EQ(0.908, urdf->links_["l1"]->inertial->izz);
}

TEST(URDF_UNIT_TEST, negative_sphere_radius_fails)
{
std::string urdf_str = R"urdf(
<robot name="negative_sphere_test">
<link name="link1">
<visual>
<geometry>
<sphere radius="-0.5"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Invalid radius causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, zero_as_sphere_radius_fails)
{
std::string urdf_str = R"urdf(
<robot name="zero_sphere_test">
<link name="link1">
<visual>
<geometry>
<sphere radius="0.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Invalid radius causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, negative_box_size_fails)
{
std::string urdf_str = R"urdf(
<robot name="negative_box_test">
<link name="link1">
<visual>
<geometry>
<box size="1.0 -2.0 3.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Negative size causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, zero_box_size_fails)
{
std::string urdf_str = R"urdf(
<robot name="zero_box_test">
<link name="link1">
<visual>
<geometry>
<box size="1.0 0.0 3.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Zero size causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, negative_cylinder_radius_fails)
{
std::string urdf_str = R"urdf(
<robot name="negative_cylinder_test">
<link name="link1">
<visual>
<geometry>
<cylinder radius="-0.5" length="1.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Negative radius causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, negative_cylinder_length_fails)
{
std::string urdf_str = R"urdf(
<robot name="negative_cylinder_length_test">
<link name="link1">
<visual>
<geometry>
<cylinder radius="0.5" length="-1.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Negative length causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, zero_cylinder_radius_fails)
{
std::string urdf_str = R"urdf(
<robot name="zero_cylinder_test">
<link name="link1">
<visual>
<geometry>
<cylinder radius="0.0" length="1.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Zero radius causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

TEST(URDF_UNIT_TEST, zero_cylinder_length_fails)
{
std::string urdf_str = R"urdf(
<robot name="zero_cylinder_length_test">
<link name="link1">
<visual>
<geometry>
<cylinder radius="0.5" length="0.0"/>
</geometry>
</visual>
</link>
</robot>
)urdf";

urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(urdf_str);

// Zero length causes geometry parsing to fail
ASSERT_NE(nullptr, urdf);
urdf::LinkConstSharedPtr link = urdf->getLink("link1");
ASSERT_NE(nullptr, link);
EXPECT_TRUE(link->visual_array.empty());
}

int main(int argc, char **argv)
{
Expand Down