typing and formatting for unit test

Author: LeonLiu4

tests/test_rigid_physics.py

@@ -2177,20 +2177,32 @@ def test_terrain_size(show_viewer, tol):
 def test_jacobian(gs_sim, tol):
     pendulum = gs_sim.entities[0]
     angle = 0.7
-    pendulum.set_qpos(np.array([angle], dtype=np.float64))
+    pendulum.set_qpos(np.array([angle], dtype=gs.np_float))
     gs_sim.scene.step()
 
     link = pendulum.get_link("PendulumArm_0")
 
-    p_local = np.array([0.05, -0.02, 0.12], dtype=np.float64)
-    J_o = pendulum.get_jacobian(link).cpu().numpy()
-    J_p = pendulum.get_jacobian(link, p_local).cpu().numpy()
+    p_local = np.array([0.05, -0.02, 0.12], dtype=gs.np_float)
+    J_o = tensor_to_array(pendulum.get_jacobian(link))
+    J_p = tensor_to_array(pendulum.get_jacobian(link, p_local))
 
     c, s = np.cos(angle), np.sin(angle)
-    Rx = np.array([[1, 0, 0], [0, c, -s], [0, s, c]], dtype=np.float64)
+    Rx = np.array(
+        [
+            [1, 0, 0],
+            [0, c, -s],
+            [0, s, c],
+        ],
+        dtype=gs.np_float,
+    )
     r_world = Rx @ p_local
     r_cross = np.array(
-        [[0, -r_world[2], r_world[1]], [r_world[2], 0, -r_world[0]], [-r_world[1], r_world[0], 0]], dtype=np.float64
+        [
+            [0, -r_world[2], r_world[1]],
+            [r_world[2], 0, -r_world[0]],
+            [-r_world[1], r_world[0], 0],
+        ],
+        dtype=gs.np_float,
     )
 
     lin_o, ang_o = J_o[:3, 0], J_o[3:, 0]