From 62f05c1e6f1dfb014aef484b9051a36df4ab7e48 Mon Sep 17 00:00:00 2001 From: Michael Moss Date: Tue, 18 Aug 2026 04:01:19 -0700 Subject: [PATCH] Cast mjx objtype_data lookup keys to int for pybind11 v1.18 compatibility. PiperOrigin-RevId: 966503691 Change-Id: Ic1465aa8e13697d140a993a42294f661f1d1fb15 --- mjx/mujoco/mjx/_src/sensor.py | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py index 42f92651..c1926fe4 100644 --- a/mjx/mujoco/mjx/_src/sensor.py +++ b/mjx/mujoco/mjx/_src/sensor.py @@ -295,16 +295,16 @@ def sensor_vel(m: Model, d: Data) -> Data: # position and orientation by object type objtype_data = { - ObjType.UNKNOWN: ( + int(ObjType.UNKNOWN): ( np.zeros((1, 3)), np.expand_dims(np.eye(3), axis=0), np.arange(1), ), # world - ObjType.BODY: (d.xipos, d.ximat, np.arange(m.nbody)), - ObjType.XBODY: (d.xpos, d.xmat, np.arange(m.nbody)), - ObjType.GEOM: (d.geom_xpos, d.geom_xmat, m.geom_bodyid), - ObjType.SITE: (d.site_xpos, d.site_xmat, m.site_bodyid), - ObjType.CAMERA: (d.cam_xpos, d.cam_xmat, m.cam_bodyid), + int(ObjType.BODY): (d.xipos, d.ximat, np.arange(m.nbody)), + int(ObjType.XBODY): (d.xpos, d.xmat, np.arange(m.nbody)), + int(ObjType.GEOM): (d.geom_xpos, d.geom_xmat, m.geom_bodyid), + int(ObjType.SITE): (d.site_xpos, d.site_xmat, m.site_bodyid), + int(ObjType.CAMERA): (d.cam_xpos, d.cam_xmat, m.cam_bodyid), } stage_vel = m.sensor_needstage == mujoco.mjtStage.mjSTAGE_VEL @@ -359,14 +359,14 @@ def sensor_vel(m: Model, d: Data) -> Data: refidt = refid[idxt] cutofft = cutoff[idxt] - xpos, _, _ = objtype_data[ot] - xposref, xmatref, _ = objtype_data[rt] + xpos, _, _ = objtype_data[int(ot)] + xposref, xmatref, _ = objtype_data[int(rt)] xpos = xpos[objidt] xposref = xposref[refidt] xmatref = xmatref[refidt] def _cvel_offset(otype, oid): - pos, _, bodyid = objtype_data[otype] + pos, _, bodyid = objtype_data[int(otype)] pos = pos[oid] bodyid = bodyid[oid] return d.cvel[bodyid], pos - d.subtree_com[m.body_rootid[bodyid]]