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Fix a bug in the handling of efc_J in put_data.

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