Make MJX device_put type validation more verbose.

PiperOrigin-RevId: 575050350
Change-Id: I7cab4ee54d462b61e9478dbd58d99bb9fb662daf

doc/changelog.rst

@@ -15,6 +15,7 @@ MJX Bug fixes
 
 1. Fix typos and supported fields in the docs (fixes :github:issue:`1105` and :github:issue:`1106`).
 2. Fix bug where mixed `jnt_limited` joints are not being constrained correctly.
+3. Make `device_put` type validation more verbose (fixed :github:issue:`1113`).
 
 Version 3.0.0 (October 18, 2023)
 --------------------------------

mjx/mujoco/mjx/_src/device.py

@@ -116,8 +116,9 @@ def _validate(m: mujoco.MjModel):
 
     typs = set(val) if isinstance(val, Iterable) else {val}
     unsupported_typs = typs - set(_TYPE_MAP[mj_type])
-    if unsupported_typs:
-      raise NotImplementedError(f'{unsupported_typs} not implemented.')
+    unsupported = [mj_type(t) for t in unsupported_typs]
+    if unsupported:
+      raise NotImplementedError(f'{unsupported} not implemented.')
 
   # check condim
   if any(dim != 3 for dim in m.geom_condim) or any(