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Python bindings: Give a detailed error message when passing non-existent name.

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List all valid names in the error message.

Fix an off-by-one error when accessing elements by numeric index (rather than name).

PiperOrigin-RevId: 457702283
Change-Id: I6e4f1518b4ecd9ca91ac9b0bf6b0963fc0a9bd18
This commit is contained in:
Nimrod Gileadi
2022-06-28 05:05:52 -07:00
committed by Copybara-Service
parent a077db1b91
commit e14cf7ddf1
4 changed files with 105 additions and 28 deletions
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python/mujoco/bindings_test.py
+40
View File
@@ -163,6 +163,46 @@ class MuJoCoBindingsTest(parameterized.TestCase):
self.data.actuator('myactuator').ctrl = 7
np.testing.assert_array_equal(self.data.ctrl[actuator_id], [7])
def test_named_indexing_invalid_names_in_model(self):
with self.assertRaisesRegex(
KeyError,
r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]"):
self.model.geom('badgeom')
def test_named_indexing_no_name_argument_in_model(self):
with self.assertRaisesRegex(
KeyError,
r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]"):
self.model.joint()
def test_named_indexing_invalid_names_in_data(self):
with self.assertRaisesRegex(
KeyError,
r"Invalid name 'badgeom'\. Valid names: \['mybox', 'myplane'\]"):
self.data.geom('badgeom')
def test_named_indexing_no_name_argument_in_model(self):
with self.assertRaisesRegex(
KeyError,
r"Invalid name ''\. Valid names: \['myball', 'myfree', 'myhinge'\]"):
self.data.jnt()
def test_named_indexing_invalid_index_in_model(self):
with self.assertRaisesRegex(
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'):
self.model.geom(-1)
def test_named_indexing_invalid_index_in_data(self):
with self.assertRaisesRegex(
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'):
self.data.geom(-1)
def test_named_indexing_geom_size(self):
box_id = mujoco.mj_name2id(self.model, mujoco.mjtObj.mjOBJ_GEOM, 'mybox')
self.assertIs(self.model.geom('mybox'), self.model.geom(box_id))
python/mujoco/indexers.cc
+54 -24
View File
@@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <algorithm>
#include <memory>
#include <optional>
#include <string>
@@ -154,8 +155,8 @@ MjModelIndexer::MjModelIndexer(raw::MjModel* m, py::handle owner)
#define XGROUP(MjModelFieldGroupedViews, field, nfield, FIELD_XMACROS) \
MjModelFieldGroupedViews& MjModelIndexer::field(int i) { \
if (i > field##_.size()) { \
throw py::index_error("index out of range"); \
if (i >= field##_.size() || i < 0) { \
throw py::index_error(IndexErrorMessage(i, field##_.size())); \
} \
auto& indexer = field##_[i]; \
if (!indexer.has_value()) { \
@@ -169,11 +170,11 @@ MJMODEL_VIEW_GROUPS
#define XGROUP(MjModelFieldGroupedViews, field, nfield, FIELD_XMACROS) \
MjModelFieldGroupedViews& MjModelIndexer::field##_by_name( \
std::string_view name) { \
try { \
return field(name_to_id_.field.at(name)); \
} catch (...) { \
throw py::key_error(std::string(name)); \
auto item = name_to_id_.field.find(name); \
if (item == name_to_id_.field.end()) { \
throw py::key_error(KeyErrorMessage(name_to_id_.field, name)); \
} \
return field(item->second); \
}
MJMODEL_VIEW_GROUPS
#undef XGROUP
@@ -190,28 +191,27 @@ MjDataIndexer::MjDataIndexer(raw::MjData* d, const MjDataMetadata* m,
#undef XGROUP
{}
#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
MjDataGroupedViews& MjDataIndexer::field(int i) { \
if (i > field##_.size()) { \
throw py::index_error("index out of range"); \
} \
auto& indexer = field##_[i]; \
if (!indexer.has_value()) { \
indexer.emplace(i, d_, m_, owner_); \
} \
return *indexer; \
#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
MjDataGroupedViews& MjDataIndexer::field(int i) { \
if (i >= field##_.size() || i < 0) { \
throw py::index_error(IndexErrorMessage(i, field##_.size())); \
} \
auto& indexer = field##_[i]; \
if (!indexer.has_value()) { \
indexer.emplace(i, d_, m_, owner_); \
} \
return *indexer; \
}
MJDATA_VIEW_GROUPS
#undef XGROUP
#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
MjDataGroupedViews& MjDataIndexer::field##_by_name( \
std::string_view name) { \
try { \
return field(name_to_id_.field.at(name)); \
} catch (...) { \
throw py::key_error(std::string(name)); \
} \
#define XGROUP(MjDataGroupedViews, field, nfield, FIELD_XMACROS) \
MjDataGroupedViews& MjDataIndexer::field##_by_name(std::string_view name) { \
auto item = name_to_id_.field.find(name); \
if (item == name_to_id_.field.end()) { \
throw py::key_error(KeyErrorMessage(name_to_id_.field, name)); \
} \
return field(item->second); \
}
MJDATA_VIEW_GROUPS
#undef XGROUP
@@ -369,4 +369,34 @@ MJDATA_TENDON
#undef MJ_M
#define MJ_M(n) n
// Returns an error message when a non-existent name is requested from an
// indexer, which includes all valid names.
std::string KeyErrorMessage(const NameToIDMap& map, std::string_view name) {
// Make a sorted list of valid names
std::vector<std::string_view> valid_names;
valid_names.reserve(map.size());
for (const auto& [key, value] : map) {
valid_names.push_back(key);
}
std::sort(valid_names.begin(), valid_names.end());
// Construct the error message
std::ostringstream message;
message << "Invalid name '" << name << "'. Valid names: [";
int i = 0;
for (const auto& key : valid_names) {
message << "'" << key << "'";
if (i < map.size() - 1) message << ", ";
i++;
}
message << "]";
return message.str();
}
std::string IndexErrorMessage(int index, int size) {
std::ostringstream message;
message << "Invalid index " << index << ". Valid indices from 0 to "
<< size - 1;
return message.str();
}
} // namespace mujoco::python
python/mujoco/indexers.h
+6
View File
@@ -185,6 +185,12 @@ class MjDataIndexer {
MJDATA_VIEW_GROUPS
#undef XGROUP
};
// Returns an error message when a nonexistent name is requested from an
// indexer, which includes all valid names.
std::string KeyErrorMessage(const NameToIDMap& map, std::string_view name);
// Returns an error message when an invalid numeric index is provided.
std::string IndexErrorMessage(int index, int size);
} // namespace mujoco::python
#endif // MUJOCO_PYTHON_INDEXERS_H_
python/mujoco/structs.cc
+5 -4
View File
@@ -1479,7 +1479,8 @@ This is useful for example when the MJB is not available as a file on disk.)"));
#field, [](MjModelWrapper& m, std::string_view name) -> auto& { \
return m.indexer().field##_by_name(name); \
}, \
py::return_value_policy::reference_internal);
py::return_value_policy::reference_internal, py::arg_v("name", ""));
MJMODEL_VIEW_GROUPS
#undef XGROUP
@@ -1493,7 +1494,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
#altname, [](MjModelWrapper& m, std::string_view name) -> auto& { \
return m.indexer().field##_by_name(name); \
}, \
py::return_value_policy::reference_internal);
py::return_value_policy::reference_internal, py::arg_v("name", ""));
MJMODEL_VIEW_GROUPS_ALTNAMES
#undef XGROUP
@@ -1752,7 +1753,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
#field, [](MjDataWrapper& d, std::string_view name) -> auto& { \
return d.indexer().field##_by_name(name); \
}, \
py::return_value_policy::reference_internal);
py::return_value_policy::reference_internal, py::arg_v("name", ""));
MJDATA_VIEW_GROUPS
#undef XGROUP
@@ -1766,7 +1767,7 @@ This is useful for example when the MJB is not available as a file on disk.)"));
#altname, [](MjDataWrapper& d, std::string_view name) -> auto& { \
return d.indexer().field##_by_name(name); \
}, \
py::return_value_policy::reference_internal);
py::return_value_policy::reference_internal, py::arg_v("name", ""));
MJDATA_VIEW_GROUPS_ALTNAMES
#undef XGROUP