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fix(conversions): cast geom_type to int in merge_geoms enum check #32

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fix(conversions): cast geom_type to int in merge_geoms enum check #32

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4 changes: 3 additions & 1 deletion src/mjviser/conversions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -582,7 +582,9 @@ def merge_geoms(mj_model: mujoco.MjModel, geom_ids: list[int]) -> trimesh.Trimes
"""Merge multiple geoms into a single trimesh in local body space."""
meshes = []
for geom_id in geom_ids:
if mj_model.geom_type[geom_id] in (mjtGeom.mjGEOM_MESH, mjtGeom.mjGEOM_SDF):
# int() cast: geom_type is a numpy scalar, and `np_scalar in (enum, ...)`
# evaluates `enum == np_scalar`, which is False for pybind11 enums.
if int(mj_model.geom_type[geom_id]) in (int(mjtGeom.mjGEOM_MESH), int(mjtGeom.mjGEOM_SDF)):
meshes.append(mujoco_mesh_to_trimesh(mj_model, geom_id))
else:
meshes.append(create_primitive_mesh(mj_model, geom_id))
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9 changes: 9 additions & 0 deletions tests/test_conversions.py
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Expand Up @@ -315,6 +315,15 @@ def test_merge_geoms(simple_model):
assert len(mesh.vertices) > 0


def test_merge_geoms_with_mesh_geom(cubemap_model):
# Regression: geom_type is a numpy scalar, and the enum membership test in
# merge_geoms silently evaluated False for mesh geoms, raising
# "ValueError: Unsupported shape type: 7".
mesh = merge_geoms(cubemap_model, [0])
assert isinstance(mesh, trimesh.Trimesh)
assert len(mesh.vertices) > 0


def test_group_geoms_by_visual_compat_splits_textured_hfield():
xml = """
<mujoco>
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