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Merge pull request #1401 from driesmarzougui:main

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PiperOrigin-RevId: 604771114
Change-Id: I9389828e9b588c22eb24a4074a23283943ca748d
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Copybara-Service
2024-02-06 14:49:35 -08:00
parent 38cbc9e543 ed36956b0d
commit 19c41aa965
1 changed files with 1 additions and 1 deletions
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mjx/mujoco/mjx/_src/io.py
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@@ -286,7 +286,7 @@ def get_data_into(
ncon = (d_i.contact.dist <= 0).sum()
efc_active = (d_i.efc_J != 0).any(axis=1)
efc_con = efc_type == mujoco.mjtConstraint.mjCNSTR_CONTACT_PYRAMIDAL
nefc, nc = efc_active.sum(), (efc_active & efc_con).sum()
nefc, nc = int(efc_active.sum()), int((efc_active & efc_con).sum())
result_i.nnzJ = nefc * m.nv
mujoco._functions._realloc_con_efc(result_i, ncon=ncon, nefc=nefc) # pylint: disable=protected-access
result_i.efc_J_rownnz[:] = np.repeat(m.nv, nefc)