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Co-authored-by: Filippo Luca Ferretti <[email protected]> Co-authored-by: Alessandro Croci <[email protected]>
ami-iit · Oct 7, 2024 · 5d775de · 5d775de
1 parent 109d5b1
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diff --git a/src/jaxsim/api/data.py b/src/jaxsim/api/data.py
@@ -172,7 +172,7 @@ def build(
             dtype=float,
         ).squeeze()
 
-        gravity = jnp.zeros(3, dtype=float).at[2].set(-standard_gravity)
+        gravity = jnp.zeros(3).at[2].set(-standard_gravity)
 
         joint_positions = jnp.atleast_1d(
             jnp.array(

diff --git a/src/jaxsim/rbda/contacts/rigid.py b/src/jaxsim/rbda/contacts/rigid.py
@@ -88,7 +88,7 @@ class RigidContacts(ContactModel):
     )
 
     terrain: jax_dataclasses.Static[Terrain] = dataclasses.field(
-        default_factory=FlatTerrain
+        default_factory=FlatTerrain.build
     )
 
     @classmethod