Fix a couple of tests that break under numpy>=2.0.

nimrod-gileadi · copybara-github · commit cb4e11fcd454 · 2024-08-21T03:25:13.000-07:00
Some attributes of np.ndarray were deprecated and shouldn't be accessed.

PiperOrigin-RevId: 665798008
Change-Id: I80e965ca39cb4c8fb1eb8362cdd665b34755dcd9
diff --git a/dm_control/mujoco/index_test.py b/dm_control/mujoco/index_test.py
@@ -52,6 +52,12 @@
              '4 mocap2 [ 12        13        14      ]'),
 }
 
+# A test below accesses all attributes of np.ndarray, but accessing some of them
+# triggers an exception under numpy>=2.0.
+_DEPRECATED_NDARRAY_ATTRIBUTES = {
+    'itemset', 'newbyteorder', 'ptp'
+}
+
 
 class MujocoIndexTest(parameterized.TestCase):
 
@@ -291,6 +297,7 @@ def testBuildIndexersForEdgeCases(self, xml_string):
       (name, name) for name in dir(np.ndarray)
       if not name.startswith('_')  # Exclude 'private' attributes
       and name not in ('ctypes', 'flat')  # Can't compare via identity/equality
+      and name not in _DEPRECATED_NDARRAY_ATTRIBUTES
   ])
   # pylint: enable=undefined-variable
   def testFieldIndexerDelegatesNDArrayAttributes(self, name):
diff --git a/dm_control/utils/inverse_kinematics_test.py b/dm_control/utils/inverse_kinematics_test.py
@@ -118,7 +118,7 @@ def testQposFromSitePose(self, target, inplace):
       xmat = physics.named.data.site_xmat[_SITE_NAME]
       quat = np.empty_like(target_quat)
       mjlib.mju_mat2Quat(quat, xmat)
-      quat /= quat.ptp()  # Normalize xquat so that its max-min range is 1
+      quat /= np.ptp(quat)  # Normalize xquat so that its max-min range is 1
       np.testing.assert_array_almost_equal(quat, target_quat)
 
   def testNamedJointsWithMultipleDOFs(self):
