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Don't return ndarray with empty shape through named indexers.

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NumPy arrays with an empty shape cannot be assigned via the usual syntax.

Fixes: #238.
Related: #237.
PiperOrigin-RevId: 441265437
Change-Id: Ib0de22c83f9babe9a97682dc5a32660c198ad68c
This commit is contained in:
Saran Tunyasuvunakool
2022-04-12 12:49:17 -07:00
parent 0d5d1f5ff2
commit 55c1c91382
2 changed files with 25 additions and 1 deletions
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python/mujoco/bindings_test.py
+20 -1
View File
@@ -41,7 +41,7 @@ TEST_XML = r"""
<body>
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
<site pos="0 0 -1" name="mysite" type="sphere"/>
<joint type="hinge" axis="0 1 0"/>
<joint name="myhinge" type="hinge" axis="0 1 0"/>
</body>
<body>
<inertial pos="0 0 0" mass="1" diaginertia="1 1 1"/>
@@ -51,6 +51,9 @@ TEST_XML = r"""
<geom type="sphere" size="0.1"/>
</body>
</worldbody>
<actuator>
<position name="myactuator" joint="myhinge"/>
</actuator>
</mujoco>
"""
@@ -144,6 +147,22 @@ class MuJoCoBindingsTest(parameterized.TestCase):
del qpos_spring
self.assertEqual(sys.getrefcount(capsule) - base_refcount, 1)
def test_named_indexing_actuator_ctrl(self):
actuator_id = mujoco.mj_name2id(
self.model, mujoco.mjtObj.mjOBJ_ACTUATOR, 'myactuator')
self.assertIs(self.data.actuator('myactuator'),
self.data.actuator(actuator_id))
self.assertIs(self.data.actuator('myactuator').ctrl,
self.data.actuator(actuator_id).ctrl)
self.assertEqual(self.data.actuator('myactuator').ctrl.shape, (1,))
# Test that the indexer is returning a view into the underlying struct.
ctrl_from_indexer = self.data.actuator('myactuator').ctrl
self.data.ctrl[actuator_id] = 5
np.testing.assert_array_equal(ctrl_from_indexer, [5])
self.data.actuator('myactuator').ctrl = 7
np.testing.assert_array_equal(self.data.ctrl[actuator_id], [7])
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
+5
View File
@@ -102,6 +102,11 @@ py::array_t<T> MakeArray(T* base_ptr, int index, std::vector<int>&& shape,
offset = m.tuple_adr[index];
shape.insert(shape.begin(), m.tuple_size[index]);
} else {
// Do not return a NumPy array with shape () since these aren't very nice
// to work with. Instead, always return singleton arrays with shape (1,).
if (shape.empty()) {
shape.push_back(1);
}
int size = 1;
for (int s : shape) {
size *= s;