From 2f62012cb0b298e9776d4b13d14754c800b8ae47 Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Sun, 16 Aug 2026 10:16:37 +0100
Subject: [PATCH 1/3] Avoid deprecated ndarray shape assignment

Signed-off-by: Sylvester Kaczmarek <assistant@SylvesterKaczmarek.com>
---
 dm_control/mujoco/index.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/dm_control/mujoco/index.py b/dm_control/mujoco/index.py
index 76e534cc..81c2c93a 100644
--- a/dm_control/mujoco/index.py
+++ b/dm_control/mujoco/index.py
@@ -378,7 +378,7 @@ def convert_key_item(self, key_item):
         key_item = np.array([self._names_to_offsets[util.to_native_string(k)]
                              for k in key_item.flat])
         # Ensure the output shape is the same as that of the input.
-        key_item.shape = original_shape
+        key_item = key_item.reshape(original_shape)
 
     return key_item
 
@@ -468,7 +468,7 @@ def __init__(self,
                parent_struct,
                field_name,
                axis_indexers):
-    """Initializes a new `FieldIndexer`.
+    """Initializes a new `FieldIndexer` instance.
 
     Args:
       parent_struct: Wrapped ctypes structure, as generated by `mjbindings`.

From 44a0b3583ba31f23e2537889c5ec622a294465ac Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Sun, 16 Aug 2026 10:17:40 +0100
Subject: [PATCH 2/3] Test named indexing without ndarray shape mutation

Signed-off-by: Sylvester Kaczmarek <assistant@SylvesterKaczmarek.com>
---
 dm_control/mujoco/index_test.py | 13 +++++++++++--
 1 file changed, 11 insertions(+), 2 deletions(-)

diff --git a/dm_control/mujoco/index_test.py b/dm_control/mujoco/index_test.py
index 3eaeae53..21e0e600 100644
--- a/dm_control/mujoco/index_test.py
+++ b/dm_control/mujoco/index_test.py
@@ -87,6 +87,15 @@ def assertIndexExpressionEqual(self, expected, actual):
       self.fail('Indexing expressions are not equal.\n'
                 'expected: {!r}\nactual: {!r}'.format(expected, actual))
 
+  def testRegularNamedAxisPreservesMultidimensionalShape(self):
+    axis = index.RegularNamedAxis(['first', 'second'])
+    key = np.array([['second'], ['first']])
+
+    converted = axis.convert_key_item(key)
+
+    np.testing.assert_array_equal(converted, [[1], [0]])
+    self.assertEqual(converted.shape, key.shape)
+
   @parameterized.parameters(
       # (field name, named index key, expected integer index key)
       ('actuator_gear', 'slide', 0),
@@ -347,8 +356,8 @@ def testReadWrite_(self, field):
     # Write unique values to the FieldIndexer and read them back again.
     # Don't write to non-float fields since these might contain pointers.
     if np.issubdtype(old_contents.dtype, np.floating):
-      new_contents = np.arange(old_contents.size, dtype=old_contents.dtype)
-      new_contents.shape = old_contents.shape
+      new_contents = np.arange(
+          old_contents.size, dtype=old_contents.dtype).reshape(old_contents.shape)
       field[:] = new_contents
       np.testing.assert_array_equal(new_contents, field[:])
 

From 48c9ae5807bca14b6867ee2788ea9a0a2fdf968b Mon Sep 17 00:00:00 2001
From: Sylvester Kaczmarek
 <16242628+sylvesterkaczmarek@users.noreply.github.com>
Date: Sun, 16 Aug 2026 11:25:01 +0100
Subject: [PATCH 3/3] chore: keep NumPy deprecation fix scoped

Signed-off-by: Sylvester Kaczmarek <assistant@SylvesterKaczmarek.com>
---
 dm_control/mujoco/index.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/dm_control/mujoco/index.py b/dm_control/mujoco/index.py
index 81c2c93a..fa0492b6 100644
--- a/dm_control/mujoco/index.py
+++ b/dm_control/mujoco/index.py
@@ -468,7 +468,7 @@ def __init__(self,
                parent_struct,
                field_name,
                axis_indexers):
-    """Initializes a new `FieldIndexer` instance.
+    """Initializes a new `FieldIndexer`.
 
     Args:
       parent_struct: Wrapped ctypes structure, as generated by `mjbindings`.