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Fix setting multidimensional arrays in MJX bind.

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PiperOrigin-RevId: 726956380
Change-Id: I51ab91b73a3a34938ac7bcd03e9691fd634cb296
This commit is contained in:
Alessio Quaglino
2025-02-14 09:27:47 -08:00
committed by Copybara-Service
parent 5b924fec98
commit 6f0bd0a5f8
2 changed files with 11 additions and 2 deletions
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mjx/mujoco/mjx/_src/support_test.py
+8
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@@ -207,6 +207,9 @@ class SupportTest(parameterized.TestCase):
np.testing.assert_array_equal(
dx.bind(mx, s.bodies[i]).xpos, d.xpos[i, :]
)
np.testing.assert_array_equal(
dx.bind(mx, s.bodies[i]).xfrc_applied, d.xfrc_applied[i, :]
)
np.testing.assert_array_equal(mx.bind(s.geoms).size, m.geom_size)
np.testing.assert_array_equal(dx.bind(mx, s.geoms).xpos, d.geom_xpos)
@@ -269,6 +272,11 @@ class SupportTest(parameterized.TestCase):
np.testing.assert_array_equal(dx6.bind(mx, s.joints).qpos, qpos_desired)
np.testing.assert_array_almost_equal(dx.bind(mx, s.joints).qpos, d.qpos)
dx7 = dx.bind(mx, s.bodies[1]).set('xfrc_applied', [1, 2, 3, 4, 5, 6])
np.testing.assert_array_equal(
dx7.bind(mx, s.bodies[1]).xfrc_applied, [1, 2, 3, 4, 5, 6]
)
# test invalid name
with self.assertRaises(AttributeError):
print(dx.bind(mx, s.geoms).ctrl)