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Avoid dividing by zero for identity axis-angle rotations - #571
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Choose a safe denominator before NumPy evaluates the division. Check the identity quaternion for a single zero rotation and mixed batches under strict NumPy error handling. Assisted-by: Codex <noreply@openai.com>
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axisangle_to_quat([0, 0, 0])emits a NumPy warning when computing the identity quaternion. Withnp.errstate(invalid='raise', divide='raise'), it raisesFloatingPointError. NumPy evaluates the division beforenp.whereselects the identity branch.Choose a safe denominator for the identity branch before dividing. The regression checks a single zero rotation and a mixed batch under strict NumPy error handling.
Verified with
pytest -q dm_control/utils dm_control/composer/variation -W error::RuntimeWarning(135 passed).Codex assisted with implementation, tests, and review.