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Improve error message for insufficient arena memory in _realloc_con_efc.

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PiperOrigin-RevId: 826845370
Change-Id: I09467dd44a6f9f01b89ff6c1d74cde493e84eb1c
This commit is contained in:
Yuval Tassa
2025-11-01 05:53:56 -07:00
committed by Copybara-Service
parent f604588a36
commit ad49733db2
2 changed files with 26 additions and 16 deletions
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python/mujoco/bindings_test.py
+5 -2
View File
@@ -632,8 +632,11 @@ class MuJoCoBindingsTest(parameterized.TestCase):
self.assertEqual(self.data.efc_J.shape, (nj,))
self.assertEqual(self.data.efc_KBIP.shape, (nefc, 4))
expected_error = 'insufficient arena memory available'
with self.assertRaisesWithLiteralMatch(mujoco.FatalError, expected_error):
expected_error = (
r'Insufficient arena memory, currently allocated memory=' +
r'"[0-9]+[A-Z]?". Increase using <size memory="X"/>.'
)
with self.assertRaisesRegex(mujoco.FatalError, expected_error):
mujoco._functions._realloc_con_efc(self.data, 100000000, 100000000)
self.assertEmpty(self.data.contact)
self.assertEmpty(self.data.efc_id)
python/mujoco/functions.cc
+21 -14
View File
@@ -16,6 +16,7 @@
#include <array>
#include <cstdint>
#include <cstdio>
#include <memory>
#include <string>
#include <optional>
@@ -264,27 +265,24 @@ PYBIND11_MODULE(_functions, pymodule) {
m, d, x.data(), y.data(), y.rows());
});
DEF_WITH_OMITTED_PY_ARGS(traits::mj_solveM2, "n")(
pymodule,
[](const raw::MjModel* m, raw::MjData* d, Eigen::Ref<EigenArrayXX> x,
Eigen::Ref<const EigenArrayXX> y, Eigen::Ref<const EigenArrayXX> sqrtInvD) {
pymodule, [](const raw::MjModel* m, raw::MjData* d,
Eigen::Ref<EigenArrayXX> x, Eigen::Ref<const EigenArrayXX> y,
Eigen::Ref<const EigenArrayXX> sqrtInvD) {
if (x.rows() != y.rows()) {
throw py::type_error(
"the first dimension of x and y should be of the same size");
}
if (x.cols() != m->nv) {
throw py::type_error(
"the last dimension of x should be of size nv");
throw py::type_error("the last dimension of x should be of size nv");
}
if (y.cols() != m->nv) {
throw py::type_error(
"the last dimension of y should be of size nv");
throw py::type_error("the last dimension of y should be of size nv");
}
if (sqrtInvD.size() != m->nv) {
throw py::type_error(
"the size of sqrtInvD should be nv");
throw py::type_error("the size of sqrtInvD should be nv");
}
return InterceptMjErrors(::mj_solveM2)(
m, d, x.data(), y.data(), sqrtInvD.data(), y.rows());
return InterceptMjErrors(::mj_solveM2)(m, d, x.data(), y.data(),
sqrtInvD.data(), y.rows());
});
Def<traits::mj_comVel>(pymodule);
Def<traits::mj_passive>(pymodule);
@@ -1533,6 +1531,11 @@ PYBIND11_MODULE(_functions, pymodule) {
#undef X
};
char error_msg[128];
error_msg[0] = '\0';
const char* error_msg_fmt =
"Insufficient arena memory, currently allocated memory=\"%s\". "
"Increase using <size memory=\"X\"/>.";
cleanup(data, nJ);
data->ncon = ncon;
data->nefc = nefc;
@@ -1542,7 +1545,9 @@ PYBIND11_MODULE(_functions, pymodule) {
data, ncon * sizeof(raw::MjContact), alignof(raw::MjContact)));
if (!data->contact) {
cleanup(data, nJ);
throw FatalError("insufficient arena memory available");
std::snprintf(error_msg, sizeof(error_msg), error_msg_fmt,
mju_writeNumBytes(data->narena));
throw FatalError(error_msg);
}
#undef MJ_M
@@ -1553,8 +1558,10 @@ PYBIND11_MODULE(_functions, pymodule) {
data->name = static_cast<type*>(InterceptMjErrors(::mj_arenaAllocByte)( \
data, sizeof(type) * (nr) * (nc), alignof(type))); \
if (!data->name) { \
cleanup(data, nJ); \
throw FatalError("insufficient arena memory available"); \
cleanup(data, nJ); \
std::snprintf(error_msg, sizeof(error_msg), error_msg_fmt, \
mju_writeNumBytes(data->narena)); \
throw FatalError(error_msg); \
}
MJDATA_ARENA_POINTERS_SOLVER