Fix incorrect data types in Python bindings of certain arrays.

The mismatch between the `py::array_t` template argument and the type of the MuJoCo struct member being wrapped caused the `py::array_t` to be constructed via an unintended constructor overload, which in turn triggered `use-after-poison` under asan.

This bug affected the `geom`, `flex`, `elem`, and `vert` arrays in `mjContact`, and all array members in `mjrContext`.

PiperOrigin-RevId: 608632860
Change-Id: Ic227f691041b004a0fcf0cb6fa3d62c44861d9aa

python/mujoco/bindings_test.py

@@ -529,6 +529,7 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     expected_ncon = 4
     mujoco.mj_forward(self.model, self.data)
     self.assertLen(self.data.contact, expected_ncon)
+    np.testing.assert_array_equal(self.data.contact.geom, [[0, 1]] * 4)
 
     expected_pos = []
     for contact in self.data.contact:
@@ -551,6 +552,13 @@ class MuJoCoBindingsTest(parameterized.TestCase):
     self.assertLen(expected_H, expected_ncon)
     np.testing.assert_array_equal(self.data.contact.H, expected_H)
 
+    expected_geom = []
+    for i, contact in enumerate(self.data.contact):
+      expected_geom.append([i, i + 1])
+      contact.geom = expected_geom[-1]
+    self.assertLen(expected_geom, expected_ncon)
+    np.testing.assert_array_equal(self.data.contact.geom, expected_geom)
+
   def test_realloc_con_efc(self):
     self.assertEmpty(self.data.contact)