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Change type of light_poscom0 and `actuator_acc0'.

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This is required for batching over `mjx.Model` in case recompilation is used to change inertial values.

PiperOrigin-RevId: 717596504
Change-Id: I4b6780903ebf12ebbf8b7bc7b8990a01609d4491
This commit is contained in:
Google DeepMind
2025-01-20 12:10:36 -08:00
committed by Copybara-Service
parent ff4783482c
commit 68cd263337
1 changed files with 2 additions and 2 deletions
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mjx/mujoco/mjx/_src/types.py
+2 -2
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@@ -999,7 +999,7 @@ class Model(PyTreeNode):
light_castshadow: jax.Array light_castshadow: jax.Array
light_pos: jax.Array light_pos: jax.Array
light_dir: jax.Array light_dir: jax.Array
light_poscom0: np.ndarray = _restricted_to('mujoco') light_poscom0: jax.Array
light_pos0: np.ndarray light_pos0: np.ndarray
light_dir0: np.ndarray light_dir0: np.ndarray
light_cutoff: jax.Array light_cutoff: jax.Array
@@ -1129,7 +1129,7 @@ class Model(PyTreeNode):
actuator_actrange: jax.Array actuator_actrange: jax.Array
actuator_gear: jax.Array actuator_gear: jax.Array
actuator_cranklength: np.ndarray actuator_cranklength: np.ndarray
actuator_acc0: np.ndarray actuator_acc0: jax.Array
actuator_lengthrange: np.ndarray actuator_lengthrange: np.ndarray
actuator_plugin: np.ndarray = _restricted_to('mujoco') actuator_plugin: np.ndarray = _restricted_to('mujoco')
sensor_type: np.ndarray sensor_type: np.ndarray