From 3a3ca3761564ab3a97e2b5ad1845c253d1a2af37 Mon Sep 17 00:00:00 2001
From: Saran Tunyasuvunakool <stunya@google.com>
Date: Thu, 4 Aug 2022 08:35:15 -0700
Subject: [PATCH] Fix msan bugs in bindings_test.py.

PiperOrigin-RevId: 465321721
Change-Id: Ie5bfbf5fb0cd3f2b3db3adc86bff3cb1c4df3da0
---
 python/mujoco/bindings_test.py | 28 +++++++++++++++++++---------
 1 file changed, 19 insertions(+), 9 deletions(-)

diff --git a/python/mujoco/bindings_test.py b/python/mujoco/bindings_test.py
index cfda1ce8..65d0a933 100644
--- a/python/mujoco/bindings_test.py
+++ b/python/mujoco/bindings_test.py
@@ -181,7 +181,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
         r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]"):
       self.data.geom('badgeom')
 
-  def test_named_indexing_no_name_argument_in_model(self):
+  def test_named_indexing_no_name_argument_in_data(self):
     with self.assertRaisesRegex(
         KeyError,
         r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]"):
@@ -189,7 +189,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
 
   def test_named_indexing_invalid_index_in_model(self):
     with self.assertRaisesRegex(
-      IndexError, r'Invalid index 3\. Valid indices from 0 to 2'):
+        IndexError, r'Invalid index 3\. Valid indices from 0 to 2'):
       self.model.geom(3)
     with self.assertRaisesRegex(
         IndexError, r'Invalid index -1\. Valid indices from 0 to 2'):
@@ -197,7 +197,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
 
   def test_named_indexing_invalid_index_in_data(self):
     with self.assertRaisesRegex(
-      IndexError, r'Invalid index 3\. Valid indices from 0 to 2'):
+        IndexError, r'Invalid index 3\. Valid indices from 0 to 2'):
       self.data.geom(3)
     with self.assertRaisesRegex(
         IndexError, r'Invalid index -1\. Valid indices from 0 to 2'):
@@ -586,6 +586,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     class MjWarningStatSubclass(mujoco.MjWarningStat):
       # ptr attribute could cause an infinite recursion, if the repr
       # implementation simply looked at all attributes.
+
       @property
       def ptr(self):
         return self
@@ -597,6 +598,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
 >"""
 
     self.assertEqual(repr(MjWarningStatSubclass()), expected_repr)
+
   def test_mju_rotVecQuat(self):  # pylint: disable=invalid-name
     vec = [1, 0, 0]
     quat = [np.cos(np.pi/8), 0, 0, np.sin(np.pi/8)]
@@ -623,9 +625,13 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     with self.assertRaises(TypeError):
       mujoco.mju_rotVecQuat(res, vec, [1, 2, 3])
 
+    # The following check needs to be done with a fully initialized array,
+    # since pybind11 prints out the array's contents when generating TypeErrors.
+    # Using `np.empty` here results in msan errors.
+
     # Check that the output argument must have the correct dtype.
     with self.assertRaises(TypeError):
-      mujoco.mju_rotVecQuat(vec, quat, res=np.empty(3, int))
+      mujoco.mju_rotVecQuat(vec, quat, res=np.zeros(3, int))
 
   def test_mj_jacSite(self):  # pylint: disable=invalid-name
     mujoco.mj_forward(self.model, self.data)
@@ -668,15 +674,19 @@ class MuJoCoBindingsTest(parameterized.TestCase):
       mujoco.mj_jacSite(
           self.model, self.data, None, np.empty((4, 7), jacr.dtype), site_id)
 
-    # Check that the jacp argument must have the right dtype.
-    with self.assertRaises(TypeError):
-      mujoco.mj_jacSite(
-          self.model, self.data, np.empty(jacp.shape, int), None, site_id)
+    # The following two checks need to be done with fully initialized arrays,
+    # since pybind11 prints out the array's contents when generating TypeErrors.
+    # Using `np.empty` here results in msan errors.
 
     # Check that the jacp argument must have the right dtype.
     with self.assertRaises(TypeError):
       mujoco.mj_jacSite(
-          self.model, self.data, None, np.empty(jacr.shape, int), site_id)
+          self.model, self.data, np.zeros(jacp.shape, int), None, site_id)
+
+    # Check that the jacr argument must have the right dtype.
+    with self.assertRaises(TypeError):
+      mujoco.mj_jacSite(
+          self.model, self.data, None, np.zeros(jacr.shape, int), site_id)
 
   def test_docstrings(self):  # pylint: disable=invalid-name
     self.assertEqual(