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Fix msan bugs in bindings_test.py.

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PiperOrigin-RevId: 465321721
Change-Id: Ie5bfbf5fb0cd3f2b3db3adc86bff3cb1c4df3da0
This commit is contained in:
Saran Tunyasuvunakool
2022-08-04 08:35:15 -07:00
committed by Copybara-Service
parent 5f79a1d95f
commit 3a3ca37615
1 changed files with 19 additions and 9 deletions
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python/mujoco/bindings_test.py
+19 -9
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@@ -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(