From cb745db4121e64841819f27af966fecee0e950e7 Mon Sep 17 00:00:00 2001 From: Baruch Tabanpour Date: Mon, 30 Sep 2024 14:01:23 -0700 Subject: [PATCH] Ensure ten_wrapnum/wrapadr are int type. PiperOrigin-RevId: 680709773 Change-Id: Iebc0c796e66e657b8bebcc5fe4b2d347d9bdf42c --- mjx/mujoco/mjx/_src/smooth.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/mjx/mujoco/mjx/_src/smooth.py b/mjx/mujoco/mjx/_src/smooth.py index 54de7b62..6020a1ad 100644 --- a/mjx/mujoco/mjx/_src/smooth.py +++ b/mjx/mujoco/mjx/_src/smooth.py @@ -773,7 +773,7 @@ def tendon(m: Model, d: Data) -> Data: ten_wrapadr = [0] for wn in ten_wrapnum[:-1]: ten_wrapadr.append(ten_wrapadr[-1] + wn) - ten_wrapadr = np.array(ten_wrapadr).astype(int) + ten_wrapadr = np.array(ten_wrapadr) wrap_obj = np.zeros(m.nwrap * 2, dtype=int) wrap_obj[:nwrap_site] = -1 @@ -782,8 +782,8 @@ def tendon(m: Model, d: Data) -> Data: return d.replace( ten_length=ten_length, ten_J=ten_moment, - ten_wrapadr=jp.array(ten_wrapadr), - ten_wrapnum=jp.array(ten_wrapnum), + ten_wrapadr=jp.array(ten_wrapadr, dtype=int), + ten_wrapnum=jp.array(ten_wrapnum, dtype=int), wrap_xpos=wrap_xpos, wrap_obj=jp.array(wrap_obj), )