From 7ce16ee3abc102a22a08e810c8d1c98dec936100 Mon Sep 17 00:00:00 2001
From: Giulio Romualdi <giulio.romualdi@gmail.com>
Date: Wed, 8 Jan 2025 21:08:44 +0100
Subject: [PATCH] Refactor gravity initialization and update post-init
 conversion to use default tensor type

---
 src/adam/parametric/pytorch/computations_parametric.py | 4 +---
 src/adam/pytorch/computations.py                       | 4 +---
 src/adam/pytorch/torch_like.py                         | 6 +++---
 3 files changed, 5 insertions(+), 9 deletions(-)

diff --git a/src/adam/parametric/pytorch/computations_parametric.py b/src/adam/parametric/pytorch/computations_parametric.py
index daa66d6..f969402 100644
--- a/src/adam/parametric/pytorch/computations_parametric.py
+++ b/src/adam/parametric/pytorch/computations_parametric.py
@@ -23,9 +23,7 @@ def __init__(
         joints_name_list: list,
         links_name_list: list,
         root_link: str = None,
-        gravity: np.array = torch.tensor(
-            [0, 0, -9.80665, 0, 0, 0], dtype=torch.float64
-        ),
+        gravity: np.array = torch.tensor([0, 0, -9.80665, 0, 0, 0]),
     ) -> None:
         """
         Args:
diff --git a/src/adam/pytorch/computations.py b/src/adam/pytorch/computations.py
index 3f39d49..6e753fc 100644
--- a/src/adam/pytorch/computations.py
+++ b/src/adam/pytorch/computations.py
@@ -20,9 +20,7 @@ def __init__(
         urdfstring: str,
         joints_name_list: list = None,
         root_link: str = None,
-        gravity: np.array = torch.tensor(
-            [0, 0, -9.80665, 0, 0, 0], dtype=torch.float64
-        ),
+        gravity: np.array = torch.tensor([0, 0, -9.80665, 0, 0, 0]),
     ) -> None:
         """
         Args:
diff --git a/src/adam/pytorch/torch_like.py b/src/adam/pytorch/torch_like.py
index de2cb81..342bf0d 100644
--- a/src/adam/pytorch/torch_like.py
+++ b/src/adam/pytorch/torch_like.py
@@ -17,9 +17,9 @@ class TorchLike(ArrayLike):
     array: torch.Tensor
 
     def __post_init__(self):
-        """Converts array to double precision"""
-        if self.array.dtype != torch.float64:
-            self.array = self.array.double()
+        """Converts array to the default type used in the library"""
+        if self.array.dtype != torch.get_default_dtype():
+            self.array = self.array.to(torch.get_default_dtype())
 
     def __setitem__(self, idx, value: Union["TorchLike", ntp.ArrayLike]) -> "TorchLike":
         """Overrides set item operator"""