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Ensure ten_wrapnum/wrapadr are int type.

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PiperOrigin-RevId: 680709773
Change-Id: Iebc0c796e66e657b8bebcc5fe4b2d347d9bdf42c
This commit is contained in:
Baruch Tabanpour
2024-09-30 14:01:23 -07:00
committed by Copybara-Service
parent 6832df3091
commit cb745db412
1 changed files with 3 additions and 3 deletions
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mjx/mujoco/mjx/_src/smooth.py
+3 -3
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@@ -773,7 +773,7 @@ def tendon(m: Model, d: Data) -> Data:
ten_wrapadr = [0] ten_wrapadr = [0]
for wn in ten_wrapnum[:-1]: for wn in ten_wrapnum[:-1]:
ten_wrapadr.append(ten_wrapadr[-1] + wn) 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 = np.zeros(m.nwrap * 2, dtype=int)
wrap_obj[:nwrap_site] = -1 wrap_obj[:nwrap_site] = -1
@@ -782,8 +782,8 @@ def tendon(m: Model, d: Data) -> Data:
return d.replace( return d.replace(
ten_length=ten_length, ten_length=ten_length,
ten_J=ten_moment, ten_J=ten_moment,
ten_wrapadr=jp.array(ten_wrapadr), ten_wrapadr=jp.array(ten_wrapadr, dtype=int),
ten_wrapnum=jp.array(ten_wrapnum), ten_wrapnum=jp.array(ten_wrapnum, dtype=int),
wrap_xpos=wrap_xpos, wrap_xpos=wrap_xpos,
wrap_obj=jp.array(wrap_obj), wrap_obj=jp.array(wrap_obj),
) )