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Co-authored-by: Filippo Luca Ferretti <[email protected]>

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(