From d01fb81b50f6c6d19909b81554ade93eda41bf76 Mon Sep 17 00:00:00 2001
From: Baruch Tabanpour <btaba@google.com>
Date: Mon, 28 Oct 2024 13:20:09 -0700
Subject: [PATCH] Use eq_active0 in MJX.

PiperOrigin-RevId: 690727109
Change-Id: If60a99d7644e0376a27039478319ff5300b15cc1
---
 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 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
   )