mujoco_warp: wp.full crashes because eq_active sum promotes to float #890
Description
d.ne_connect = wp.full(nworld, 3 * np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_CONNECT) & mjd.eq_active), dtype=int)
d.ne_weld = wp.full(nworld, 6 * np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_WELD) & mjd.eq_active), dtype=int)
mjd.eq_active is type array of uint8, and (mjm.eq_type == mujoco.mjtEq.mjEQ_CONNECT) is array of bool, np.sum will return a uint
multiplying a python integer with numpy unsigned int promotes it to float64.
type(np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_CONNECT) & mjd.eq_active))
<class 'numpy.uint64'>
type(3 * np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_CONNECT) & mjd.eq_active))
<class 'numpy.float64'>
but np.full will not be happy with float
wp.full(nworld, 3 * np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_CONNECT) & mjd.eq_active), dtype=int)
Traceback (most recent call last):
File "/home/zhengyuz/miniconda3/envs/newton_isaaclab/lib/python3.11/site-packages/isaacsim/extscache/omni.warp.core-1.11/warp/_src/types.py", line 3326, in fill_
cvalue = self.dtype._type_(value)
^^^^^^^^^^^^^^^^^^^^^^^^
TypeError: 'numpy.float64' object cannot be interpreted as an integer
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "<string>", line 1, in <module>
File "/home/zhengyuz/miniconda3/envs/newton_isaaclab/lib/python3.11/site-packages/isaacsim/extscache/omni.warp.core-1.11/warp/_src/context.py", line 5887, in full
arr.fill_(value)
File "/home/zhengyuz/miniconda3/envs/newton_isaaclab/lib/python3.11/site-packages/isaacsim/extscache/omni.warp.core-1.11/warp/_src/types.py", line 3328, in fill_
raise ValueError(f"Failed to convert the value to the array data type: {e}") from e
ValueError: Failed to convert the value to the array data type: 'numpy.float64' object cannot be interpreted as an integer
the fix seems to just be casting to int to revert the promotion. Im happy to submit a pr if that seems the right fix
d.ne_connect = wp.full(nworld, 3 * int(np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_CONNECT) & mjd.eq_active)), dtype=int)
d.ne_weld = wp.full(nworld, 6 * int(np.sum((mjm.eq_type == mujoco.mjtEq.mjEQ_WELD) & mjd.eq_active)), dtype=int)
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