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Avoid deprecated ndarray shape assignment in named indexing #550

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Avoid deprecated ndarray shape assignment in named indexing #550

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2f62012
Avoid deprecated ndarray shape assignment
sylvesterkaczmarek Aug 16, 2026
44a0b35
Test named indexing without ndarray shape mutation
sylvesterkaczmarek Aug 16, 2026
48c9ae5
chore: keep NumPy deprecation fix scoped
sylvesterkaczmarek Aug 16, 2026
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2 changes: 1 addition & 1 deletion dm_control/mujoco/index.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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

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13 changes: 11 additions & 2 deletions dm_control/mujoco/index_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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),
Expand Down Expand Up @@ -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[:])

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