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Fix #2237.

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PiperOrigin-RevId: 703547316
Change-Id: I279876a299e56a16f8d5227fc1d0f64265477853
This commit is contained in:
Baruch Tabanpour
2024-12-06 10:45:37 -08:00
committed by Copybara-Service
parent 15cb1fdfb4
commit c1d97d4a22
1 changed files with 5 additions and 3 deletions
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mjx/mujoco/mjx/_src/io.py
+5 -3
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@@ -233,9 +233,11 @@ def make_data(
solreffriction=jp.zeros((ncon, mujoco.mjNREF), dtype=float), solreffriction=jp.zeros((ncon, mujoco.mjNREF), dtype=float),
solimp=jp.zeros((ncon, mujoco.mjNIMP), dtype=float), solimp=jp.zeros((ncon, mujoco.mjNIMP), dtype=float),
dim=dim, dim=dim,
geom1=jp.full((ncon,), -1, dtype=jp.int32), # let jax pick contact.geom int precision, for interop with
geom2=jp.full((ncon,), -1, dtype=jp.int32), # jax_enable_x64
geom=jp.full((ncon, 2), -1, dtype=jp.int32), geom1=jp.full((ncon,), -1, dtype=int),
geom2=jp.full((ncon,), -1, dtype=int),
geom=jp.full((ncon, 2), -1, dtype=int),
efc_address=efc_address, efc_address=efc_address,
) )