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Force dtype of mjx.Contact.{geom1,geom2,geom} to int32.

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This improves compatibility with MuJoCo.

PiperOrigin-RevId: 662655282
Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe
This commit is contained in:
Saran Tunyasuvunakool
2024-08-13 14:33:44 -07:00
committed by Copybara-Service
parent 19aa68c2b2
commit 1141b4abbc
1 changed files with 3 additions and 3 deletions
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mjx/mujoco/mjx/_src/io.py
+3 -3
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@@ -153,9 +153,9 @@ def make_data(m: Union[types.Model, mujoco.MjModel]) -> types.Data:
solreffriction=jp.zeros((ncon, mujoco.mjNREF), dtype=float),
solimp=jp.zeros((ncon, mujoco.mjNIMP), dtype=float),
dim=dim,
geom1=jp.full((ncon,), -1, dtype=int),
geom2=jp.full((ncon,), -1, dtype=int),
geom=jp.full((ncon, 2), -1, dtype=int),
geom1=jp.full((ncon,), -1, dtype=jp.int32),
geom2=jp.full((ncon,), -1, dtype=jp.int32),
geom=jp.full((ncon, 2), -1, dtype=jp.int32),
efc_address=efc_address,
)