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Accept NumPy integers for rollout sizing #3511

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4 changes: 2 additions & 2 deletions python/mujoco/rollout.py
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Original file line number Diff line number Diff line change
Expand Up @@ -130,9 +130,9 @@ def rollout(
raise ValueError('control_spec can only contain bits in mjSTATE_USER')

# check types
if nstep and not isinstance(nstep, int):
if nstep and not isinstance(nstep, (int, np.integer)):
raise ValueError('nstep must be an integer')
if chunk_size and not isinstance(chunk_size, int):
if chunk_size and not isinstance(chunk_size, (int, np.integer)):
raise ValueError('chunk_size must be an integer')
_check_must_be_numeric(
initial_state=initial_state,
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51 changes: 51 additions & 0 deletions python/mujoco/rollout_numpy_integer_test.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,51 @@
# Copyright 2026 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Regression tests for NumPy integer rollout sizing arguments."""

from absl.testing import absltest
import mujoco
from mujoco import rollout
import numpy as np


class RolloutNumpyIntegerTest(absltest.TestCase):

def test_numpy_integer_nstep_and_chunk_size(self):
model = mujoco.MjModel.from_xml_string(
'<mujoco><worldbody><body><freejoint/><geom size="0.1"/></body></worldbody></mujoco>'
)
data = mujoco.MjData(model)
nstate = mujoco.mj_stateSize(
model, mujoco.mjtState.mjSTATE_FULLPHYSICS
)
initial_state = np.zeros((1, nstate), dtype=mujoco.MJTNUM_DTYPE)

state, _ = rollout.rollout(
model, data, initial_state, nstep=np.int64(3)
)
self.assertEqual(state.shape[1], 3)

state, _ = rollout.rollout(
model,
data,
initial_state,
nstep=np.int64(3),
chunk_size=np.int64(1),
)
self.assertEqual(state.shape[1], 3)


if __name__ == '__main__':
absltest.main()