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Cast mjx objtype_data lookup keys to int for pybind11 v1.18 compatibility.

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PiperOrigin-RevId: 966503691
Change-Id: Ic1465aa8e13697d140a993a42294f661f1d1fb15
This commit is contained in:
Michael Moss
2026-08-18 04:01:19 -07:00
committed by Copybara-Service
parent e3590b7449
commit 62f05c1e6f
1 changed files with 9 additions and 9 deletions
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mjx/mujoco/mjx/_src/sensor.py
+9 -9
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@@ -295,16 +295,16 @@ def sensor_vel(m: Model, d: Data) -> Data:
# position and orientation by object type # position and orientation by object type
objtype_data = { objtype_data = {
ObjType.UNKNOWN: ( int(ObjType.UNKNOWN): (
np.zeros((1, 3)), np.zeros((1, 3)),
np.expand_dims(np.eye(3), axis=0), np.expand_dims(np.eye(3), axis=0),
np.arange(1), np.arange(1),
), # world ), # world
ObjType.BODY: (d.xipos, d.ximat, np.arange(m.nbody)), int(ObjType.BODY): (d.xipos, d.ximat, np.arange(m.nbody)),
ObjType.XBODY: (d.xpos, d.xmat, np.arange(m.nbody)), int(ObjType.XBODY): (d.xpos, d.xmat, np.arange(m.nbody)),
ObjType.GEOM: (d.geom_xpos, d.geom_xmat, m.geom_bodyid), int(ObjType.GEOM): (d.geom_xpos, d.geom_xmat, m.geom_bodyid),
ObjType.SITE: (d.site_xpos, d.site_xmat, m.site_bodyid), int(ObjType.SITE): (d.site_xpos, d.site_xmat, m.site_bodyid),
ObjType.CAMERA: (d.cam_xpos, d.cam_xmat, m.cam_bodyid), int(ObjType.CAMERA): (d.cam_xpos, d.cam_xmat, m.cam_bodyid),
} }
stage_vel = m.sensor_needstage == mujoco.mjtStage.mjSTAGE_VEL stage_vel = m.sensor_needstage == mujoco.mjtStage.mjSTAGE_VEL
@@ -359,14 +359,14 @@ def sensor_vel(m: Model, d: Data) -> Data:
refidt = refid[idxt] refidt = refid[idxt]
cutofft = cutoff[idxt] cutofft = cutoff[idxt]
xpos, _, _ = objtype_data[ot] xpos, _, _ = objtype_data[int(ot)]
xposref, xmatref, _ = objtype_data[rt] xposref, xmatref, _ = objtype_data[int(rt)]
xpos = xpos[objidt] xpos = xpos[objidt]
xposref = xposref[refidt] xposref = xposref[refidt]
xmatref = xmatref[refidt] xmatref = xmatref[refidt]
def _cvel_offset(otype, oid): def _cvel_offset(otype, oid):
pos, _, bodyid = objtype_data[otype] pos, _, bodyid = objtype_data[int(otype)]
pos = pos[oid] pos = pos[oid]
bodyid = bodyid[oid] bodyid = bodyid[oid]
return d.cvel[bodyid], pos - d.subtree_com[m.body_rootid[bodyid]] return d.cvel[bodyid], pos - d.subtree_com[m.body_rootid[bodyid]]