From 1141b4abbc26a76374699d659e3337e8e5df3df6 Mon Sep 17 00:00:00 2001 From: Saran Tunyasuvunakool Date: Tue, 13 Aug 2024 14:33:44 -0700 Subject: [PATCH] Force dtype of `mjx.Contact.{geom1,geom2,geom}` to int32. This improves compatibility with MuJoCo. PiperOrigin-RevId: 662655282 Change-Id: I2a336d9453f40cf0bfa85a7203b55709e23a07fe --- mjx/mujoco/mjx/_src/io.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py index 202cfd9d..51001559 100644 --- a/mjx/mujoco/mjx/_src/io.py +++ b/mjx/mujoco/mjx/_src/io.py @@ -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, )