Fix #2508.

PiperOrigin-RevId: 814761747 Change-Id: Ic3d1ed359f377799126987c3640b7e534e764c6b
2025-10-03 11:15:04 -07:00
parent d321ba7642
commit 6ae9cc8061
2 changed files with 6 additions and 1 deletions
@@ -25,6 +25,11 @@ General
  no :ref:`material<tendon-spatial-material>` is set and :ref:`rgba<tendon-spatial-rgba>` is default.


+MJX
+^^^
+
+- Fix :github:issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
+
 Version 3.3.6 (September 15, 2025)
 ----------------------------------

@@ -1466,7 +1466,7 @@ def _get_data_into(
      if d.impl == types.Impl.JAX:
        if field.name == 'qM' and not support.is_sparse(m):
          value = value[dof_i, dof_j]
-        elif field.name == 'qLD' and not support.is_sparse(m):
+        elif field.name == 'qLD':
          value = np.zeros(m.nC)
        elif field.name == 'qLDiagInv' and not support.is_sparse(m):
          value = np.ones(m.nv)