From 5d782a2bb8569f2c79059c9845cae5147dd684a2 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Fri, 29 May 2026 13:51:02 -0700
Subject: [PATCH] Fix memory overallocation in sparse primal solvers.

PiperOrigin-RevId: 923586079
Change-Id: I8d484b840063c0a7a8a79c5bdc9074a57d2ee55f
---
 src/engine/engine_solver.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/engine/engine_solver.c b/src/engine/engine_solver.c
index dd18ae55..b9c112a1 100644
--- a/src/engine/engine_solver.c
+++ b/src/engine/engine_solver.c
@@ -1072,7 +1072,7 @@ static void PrimalAllocate(mjData* d, mjPrimalContext* ctx, int flg_Newton) {
   // local sizes and flags
   int nv = ctx->nv;
   int nefc = ctx->nefc;
-  int nJ = ctx->is_sparse ? d->nJ : 0;
+  int nJ = ctx->is_sparse ? ctx->nJ : 0;
   int is_sparse = ctx->is_sparse;
   int is_elliptic = ctx->is_elliptic;