Fix put_data crash when nefc=0 for dense models#1174
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erikfrey merged 1 commit intogoogle-deepmind:mainfrom Feb 22, 2026
Merged
Fix put_data crash when nefc=0 for dense models#1174erikfrey merged 1 commit intogoogle-deepmind:mainfrom
erikfrey merged 1 commit intogoogle-deepmind:mainfrom
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Tendons with frictionloss cause MuJoCo to pre-allocate efc_J with size nv even when nefc=0, causing reshape((0, nv)) to fail with ValueError. Short-circuit to np.zeros((0, nv)) before the sparse/dense branch.
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Tendons with
frictionloss > 0cause MuJoCo to pre-allocateefc_Jwith sizenveven whennefc=0. This makesput_datacrash withValueError: cannot reshape array of size N into shape (0, N)on the dense code path. This fix short-circuits tonp.zeros((0, nv))whennefc == 0before the sparse/dense branch.