mujoco3.12 - #25
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k1000dai wants to merge 2 commits into
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kou
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Aug 24, 2026
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I close this in favor of #26. |
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On MuJoCo 3.12 every IK solve fails with
ArmJointLimit only supports scalar joints.(20 of 41 tests).
model.jnt_type[j]is annp.int32, andx in (a, b)comparesa == x— the enum on the left.
mjJNT_HINGE == np.int32(3)wasTrueup to 3.10 and isFalseon 3.12, so the scalar-joint check rejects every arm joint.Cause: MuJoCo 3.12 bumped its pinned pybind11
v3.0.4 → v3.1.0,
which rewrote
py::enum_comparisons (#5887);NumPy scalars now fall through
__eq__to aconst object &overload returningfalse.MuJoCo's own enum bindings are unchanged, and this is not in the 3.12 release notes.
Fixed by comparing
inttoint. The added test fails on both 3.10 and 3.12 without it.42 tests pass on MuJoCo 3.6.0 (floor), 3.10.0, and 3.12.0; no floor raised.