Fix MJX x64 int dtypes - #3409
Open
devshahofficial wants to merge 2 commits into
Open
Conversation
devshahofficial
force-pushed
the
agent/pr3334-mjx-x64-dtypes
branch
from
July 19, 2026 14:05
cd1ad26 to
95fd062
Compare
devshahofficial
marked this pull request as ready for review
July 20, 2026 15:34
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
1 participant
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Draft follow-up for #3334 / #2565, based on the original x64 dtype fix from @discobot.
Under
jax_enable_x64, compiled MJX functions can produce canonical JAX int dtypes for contact geom indices and tendon wrap indices, whileput_data/make_datastill suppliedint32in a few places. This aligns those fields with the canonical JAX int dtype and adds an AOT-style regression test.Changes:
ten_wrapadr,ten_wrapnum, andwrap_objinmake_data/put_datageom1,geom2, andgeomin_put_contactsolver_niterasint32make_data/put_data/ compiledmjx.stepinterchangeability testLocal validation:
python3 -m py_compile mjx/mujoco/mjx/_src/io.py mjx/mujoco/mjx/_src/io_test.pygit diff --checkCould not run the focused MJX runtime test locally because this base Python is missing
jax,jaxlib,absl-py, andmujoco.Opening as draft to avoid duplicating the existing open PR unless maintainers want this rebased version.