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address btaba's review

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This commit is contained in:
Tarik Kelestemur
2026-05-27 17:37:33 -04:00
parent 0482bbcca8
commit cf1b28d19a
1 changed files with 0 additions and 28 deletions
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mjx/mujoco/mjx/_src/io_test.py
-28
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@@ -227,34 +227,6 @@ class ModelIOTest(parameterized.TestCase):
m.light_active.astype(np.asarray(mx.light_active).dtype),
)
def test_replace_light_active(self):
"""Tests that light_active can be replaced like other public fields."""
m = mujoco.MjModel.from_xml_string(_LIGHTS)
mx = mjx.put_model(m, impl='jax')
light_active = jp.array([True, False])
mx_replaced = mx.replace(light_active=light_active)
np.testing.assert_array_equal(
np.asarray(mx_replaced.light_active), np.asarray(light_active)
)
np.testing.assert_array_equal(np.asarray(mx.light_active), m.light_active)
def test_vmap_light_active_in_axes(self):
"""Tests that light_active participates in batched model pytrees."""
m = mujoco.MjModel.from_xml_string(_LIGHTS)
mx = mjx.put_model(m, impl='jax')
light_active = jp.array([[True, False], [False, True], [True, True]])
mx_batched = mx.replace(light_active=light_active)
in_axes = jax.tree_util.tree_map(lambda x: None, mx)
in_axes = in_axes.replace(light_active=0)
mapped = jax.vmap(lambda model: model.light_active, in_axes=(in_axes,))(
mx_batched
)
np.testing.assert_array_equal(np.asarray(mapped), np.asarray(light_active))
def test_fluid_params(self):
"""Test that has_fluid_params is set when fluid params are present."""
m = mjx.put_model(