Use eq_active0 in MJX.

PiperOrigin-RevId: 690727109 Change-Id: If60a99d7644e0376a27039478319ff5300b15cc1
2024-10-28 13:20:09 -07:00
parent 13f11d4c45
commit d01fb81b50
1 changed files with 1 additions and 1 deletions
@@ -233,7 +233,6 @@ def make_data(
        'ctrl': (m.nu, float),
        'qfrc_applied': (m.nv, float),
        'xfrc_applied': (m.nbody, 6, float),
-        'eq_active': (m.neq, jp.uint8),
        'mocap_pos': (m.nmocap, 3, float),
        'mocap_quat': (m.nmocap, 4, float),
        'qacc': (m.nv, float),
@@ -345,6 +344,7 @@ def make_data(
      qpos=jp.array(m.qpos0),
      contact=contact,
      efc_type=efc_type,
+      eq_active=m.eq_active0,
      **zero_fields
  )