AttributeError: 'MjData' object has no attribute 'qLDiagSqrtInv'

[vaxenburg]

The Jan 14, 2025 MuJoCo update introduced a breaking change affecting dm_control.

To reproduce:

from dm_control.locomotion.examples.basic_rodent_2020 import rodent_escape_bowl
env = rodent_escape_bowl()

Traceback:

AttributeError                            Traceback (most recent call last)

[<ipython-input-3-87280df10d82>](https://localhost:8080/#) in <cell line: 1>()
----> 1 env = rodent_escape_bowl()

11 frames

[/usr/local/lib/python3.10/dist-packages/dm_control/mujoco/index.py](https://localhost:8080/#) in struct_indexer(struct, struct_name, size_to_axis_indexer)
    626     # Skip over structured arrays and fields that have sizes but aren't numpy
    627     # arrays, such as text fields and contacts (b/34805932).
--> 628     attr = getattr(struct, field_name)
    629     if not isinstance(attr, np.ndarray) or attr.dtype.fields:
    630       continue

AttributeError: 'MjData' object has no attribute 'qLDiagSqrtInv'