Merge pull request #3299 from tkelestemur:tarik/mjx-warp-nested-dataclass-methods

PiperOrigin-RevId: 928341876
Change-Id: I0c89bcbbd95a14fadbf33d7785bf212c2c074c99

mjx/mujoco/mjx/codegen/generate_warp_types.py

@@ -297,6 +297,21 @@ _FLATTEN_UNFLATTEN = """
     return cls(*children)
 """
 
+_NESTED_DATACLASS_MANUAL_METHODS = {
+    'TileSet': """
+  def __eq__(self, other) -> bool:
+    if self.__class__ is not other.__class__:
+      return NotImplemented
+    return self.size == other.size and np.array_equal(
+        np.asarray(self.adr), np.asarray(other.adr)
+    )
+
+  def __hash__(self) -> int:
+    adr = np.asarray(self.adr)
+    return hash((self.size, adr.dtype.str, adr.shape, adr.tobytes()))
+""",
+}
+
 
 def write_nested_dataclass(target_fpath: epath.Path, cls: Any):
   new_class_body = _build_new_class_body_ast(
@@ -307,6 +322,7 @@ def write_nested_dataclass(target_fpath: epath.Path, cls: Any):
   )
   cls_str = '\n'.join(['  ' + ast.unparse(node) for node in new_class_body])
   cls_str = cls_str.replace('jax.Array', 'np.ndarray')
+  manual_methods = _NESTED_DATACLASS_MANUAL_METHODS.get(cls.__name__, '')
   with target_fpath.open('a') as f:
     f.write(f'''
 @dataclasses.dataclass(frozen=True)
@@ -314,7 +330,7 @@ def write_nested_dataclass(target_fpath: epath.Path, cls: Any):
 class {cls.__name__}:
   """{cls.__doc__}"""
 {cls_str}
-{_FLATTEN_UNFLATTEN}
+{manual_methods}{_FLATTEN_UNFLATTEN}
 ''')
 
 

mjx/mujoco/mjx/warp/types.py

@@ -55,6 +55,19 @@ class TileSet:
   adr: np.ndarray
   size: int
 
+  # Manually kept in this generated shim until TileSet method generation is
+  # needed more broadly. Keep this in sync with mujoco_warp._src.types.TileSet.
+  def __eq__(self, other) -> bool:
+    if self.__class__ is not other.__class__:
+      return NotImplemented
+    return self.size == other.size and np.array_equal(
+        np.asarray(self.adr), np.asarray(other.adr)
+    )
+
+  def __hash__(self) -> int:
+    adr = np.asarray(self.adr)
+    return hash((self.size, adr.dtype.str, adr.shape, adr.tobytes()))
+
   def tree_flatten(self):
     children = list((getattr(self, k) for k in self.__dataclass_fields__))
     return (children, None)

mjx/mujoco/mjx/warp/types_test.py

@@ -0,0 +1,38 @@
+# Copyright 2026 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+"""Tests for generated MJX Warp types."""
+
+from absl.testing import absltest
+from absl.testing import parameterized
+import numpy as np
+
+from mujoco.mjx.warp import types
+
+
+class TileSetTest(parameterized.TestCase):
+
+  @parameterized.parameters(1, 3)
+  def test_structural_equality_and_hash(self, count):
+    tile_a = types.TileSet(np.arange(count) * 6, 16)
+    tile_b = types.TileSet(np.arange(count) * 6, 16)
+    tile_c = types.TileSet(np.arange(count) * 6 + 1, 16)
+
+    self.assertEqual(tile_a, tile_b)
+    self.assertEqual(hash(tile_a), hash(tile_b))
+    self.assertNotEqual(tile_a, tile_c)
+
+
+if __name__ == '__main__':
+  absltest.main()