From 9ca102f0a3cd744014273191d7f79d0e9fff24ee Mon Sep 17 00:00:00 2001
From: Million Integrals <jerry@millionintegrals.com>
Date: Tue, 9 Jul 2019 09:35:56 -0700
Subject: [PATCH] Reraising mujoco error exceptions (#435)
* Reraising mujoco error exceptions
---
mujoco_py/cymj.pyx | 15 ++++++++++++++-
mujoco_py/tests/test_cymj.py | 18 ++++++++++++++++++
mujoco_py/version.py | 2 +-
3 files changed, 33 insertions(+), 2 deletions(-)
diff --git a/mujoco_py/cymj.pyx b/mujoco_py/cymj.pyx
index 63d9234..2cc833f 100644
--- a/mujoco_py/cymj.pyx
+++ b/mujoco_py/cymj.pyx
@@ -61,6 +61,7 @@ cdef object py_error_callback
# with wrap_mujoco_warning():
# mj_somefunc()
cdef object py_warning_exception = None
+cdef object py_error_exception = None
cdef void c_warning_callback(const char *msg) with gil:
@@ -106,7 +107,12 @@ cdef void c_error_callback(const char *msg) with gil:
MuJoCo error handlers are expected to terminate the program and never return.
'''
global py_error_callback
- (<object> py_error_callback)(msg)
+
+ try:
+ (<object> py_error_callback)(msg)
+ except Exception as e:
+ global py_error_exception
+ py_error_exception = e
def set_error_callback(err_callback):
@@ -140,11 +146,18 @@ class wrap_mujoco_warning(object):
def __enter__(self):
global py_warning_exception
py_warning_exception = None
+ global py_error_exception
+ py_error_exception = None
def __exit__(self, type, value, traceback):
global py_warning_exception
+ global py_error_exception
+
if py_warning_exception is not None:
raise py_warning_exception
+ if py_error_exception is not None:
+ raise py_error_exception
+
def load_model_from_path(str path):
"""Loads model from path."""
diff --git a/mujoco_py/tests/test_cymj.py b/mujoco_py/tests/test_cymj.py
index 7a122d7..f8f6489 100644
--- a/mujoco_py/tests/test_cymj.py
+++ b/mujoco_py/tests/test_cymj.py
@@ -348,6 +348,24 @@ def test_mj_error_called():
assert error_message == "error"
+def test_mj_error_raises():
+ def error_callback(msg):
+ raise RuntimeError(msg.decode())
+
+ cymj.set_error_callback(error_callback)
+
+ called = False
+
+ try:
+ with cymj.wrap_mujoco_warning():
+ functions.mju_error("error")
+ except RuntimeError as e:
+ assert e.args[0] == "error"
+ called = True
+
+ assert called
+
+
def test_ignore_mujoco_warnings():
# Two boxes on a plane need more than 1 contact (nconmax)
xml = '''
diff --git a/mujoco_py/version.py b/mujoco_py/version.py
index 2a56a45..e29b641 100644
--- a/mujoco_py/version.py
+++ b/mujoco_py/version.py
@@ -1,6 +1,6 @@
__all__ = ['__version__', 'get_version']
-version_info = (2, 0, 2, 3)
+version_info = (2, 0, 2, 4)
# format:
# ('mujoco_major', 'mujoco_minor', 'mujoco_py_major', 'mujoco_py_minor')
--
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