From 6f6244b7395e3e3ae5ca49948a610f0cf88dfea4 Mon Sep 17 00:00:00 2001
From: Taylor Howell <taylorhowell@google.com>
Date: Mon, 9 Dec 2024 11:53:53 -0800
Subject: [PATCH] Fix MJX `get_data_into`.

PiperOrigin-RevId: 704367029
Change-Id: I720e624f996a01ab2210a907c610b68ff1ad109c
---
 mjx/mujoco/mjx/_src/io.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 10182e76..9e09a3f6 100644
--- a/mjx/mujoco/mjx/_src/io.py
+++ b/mjx/mujoco/mjx/_src/io.py
@@ -474,7 +474,7 @@ def get_data_into(
         if m.nu:
           mujoco.mju_dense2sparse(
               actuator_moment,
-              d.actuator_moment,
+              d_i.actuator_moment,
               moment_rownnz,
               moment_rowadr,
               moment_colind,