Fix #2306.

PiperOrigin-RevId: 712575320
Change-Id: Ia74ef0b31b4e7098647340760572a1f6368eab64

Author: btaba

mjx/mujoco/mjx/_src/io.py

@@ -681,4 +681,5 @@ def put_data(
   # copy because device_put is async:
   data = types.Data(**{k: copy.copy(v) for k, v in fields.items()})
 
-  return jax.device_put(data, device=device)
+  data = jax.device_put(data, device=device)
+  return _strip_weak_type(data)

mjx/mujoco/mjx/_src/io_test.py

@@ -310,6 +310,15 @@ def test_put_data(self):
     np.testing.assert_allclose(dx.cvel, d.cvel)
     np.testing.assert_allclose(dx.cdof_dot, d.cdof_dot)
 
+    # check that there are no weak types
+    self.assertFalse(
+        any(
+            jax.tree_util.tree_flatten(
+                jax.tree_util.tree_map(lambda x: x.weak_type, dx)
+            )[0]
+        )
+    )
+
     # check that qM is transformed properly
     qm = np.zeros((m.nv, m.nv), dtype=np.float64)
     mujoco.mj_fullM(m, qm, d.qM)