From d012c688394a05d2c6498446470b3f56e3e30c2a Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Sun, 22 Mar 2026 11:16:19 +0000 Subject: [PATCH] update io.put_data efc_J reshape --- mujoco_warp/_src/io.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/mujoco_warp/_src/io.py b/mujoco_warp/_src/io.py index f2228bce9..432c08de7 100644 --- a/mujoco_warp/_src/io.py +++ b/mujoco_warp/_src/io.py @@ -981,7 +981,7 @@ def put_data( if mujoco.mj_isSparse(mjm): mujoco.mju_sparse2dense(mj_efc_J, mjd.efc_J, mjd.efc_J_rownnz, mjd.efc_J_rowadr, mjd.efc_J_colind) else: - mj_efc_J = mjd.efc_J.reshape((mjd.nefc, mjm.nv)) + mj_efc_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc] efc_J = np.zeros((njmax, mjm.nv), dtype=float) efc_J[: mjd.nefc, : mjm.nv] = mj_efc_J efc_J_flat = np.tile(efc_J.reshape(-1), (nworld, 1, 1)).reshape((nworld, 1, -1))[:, :, :njmax_nnz] @@ -996,7 +996,7 @@ def put_data( if mujoco.mj_isSparse(mjm): mujoco.mju_sparse2dense(mj_efc_J, mjd.efc_J, mjd.efc_J_rownnz, mjd.efc_J_rowadr, mjd.efc_J_colind) else: - mj_efc_J = mjd.efc_J.reshape((mjd.nefc, mjm.nv)) + mj_efc_J = mjd.efc_J.reshape((-1, mjm.nv))[: mjd.nefc] efc_J = np.zeros((nworld, sizes["njmax_pad"], sizes["nv_pad"]), dtype=float) efc_J[:, : mjd.nefc, : mjm.nv] = np.tile(mj_efc_J, (nworld, 1, 1)) efc.J = wp.array(efc_J, dtype=float)