diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py index 19f92b55..893e7cb1 100644 --- a/mjx/mujoco/mjx/_src/io.py +++ b/mjx/mujoco/mjx/_src/io.py @@ -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 )