Fix setting slice of multidimensional arrays in mjx bind

PiperOrigin-RevId: 727834258 Change-Id: Id8fa25ab3aacb02603f2e0ec701f89bb69a7ac7e
2025-02-17 05:51:54 -08:00
parent 7f11a0df12
commit 0a4eda5065
2 changed files with 8 additions and 3 deletions
@@ -276,6 +276,10 @@ class SupportTest(parameterized.TestCase):
    np.testing.assert_array_equal(
        dx7.bind(mx, s.bodies[1]).xfrc_applied, [1, 2, 3, 4, 5, 6]
    )
+    for body in s.bodies[:1] + s.bodies[2:]:
+      np.testing.assert_array_equal(
+          dx7.bind(mx, body).xfrc_applied, [0, 0, 0, 0, 0, 0]
+      )

    # test invalid name
    with self.assertRaises(AttributeError):