Fix a bug in the handling of efc_J in put_data.

PiperOrigin-RevId: 738877177 Change-Id: Ie469af0e1c31843e8c59cd2cf6fc0befb1ed4956
2025-03-20 11:25:14 -07:00
parent 467a63d203
commit 2e11afa2de
1 changed files with 2 additions and 0 deletions
@@ -665,6 +665,8 @@ def put_data(
      if num_rows > 1 and m.opt.cone == mujoco.mjtCone.mjCONE_PYRAMIDAL:
        num_rows = (num_rows - 1) * 2
      efc_i, efc_o = d.contact.efc_address[id_from], efc_address[id_to]
+      if efc_i == -1:
+        continue
      value[efc_o : efc_o + num_rows] = fields[fname][efc_i : efc_i + num_rows]

    fields[fname] = value