Add rne_postconstraint dependence for FRAMELINACC and FRAMEANGACC sensors to MJX.

thowell · copybara-github · commit 3c530976e3db · 2025-04-10T06:48:40.000-07:00
PiperOrigin-RevId: 746009774
Change-Id: Ide45298b463f1ad04f1ffa7f60a7a8aeaf18f063
diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
@@ -129,6 +129,8 @@ def put_model(
       np.any(m.sensor_type == types.SensorType.ACCELEROMETER)
       | np.any(m.sensor_type == types.SensorType.FORCE)
       | np.any(m.sensor_type == types.SensorType.TORQUE)
+      | np.any(m.sensor_type == types.SensorType.FRAMELINACC)
+      | np.any(m.sensor_type == types.SensorType.FRAMEANGACC)
   )
   eq_connect_weld = np.any(m.eq_type == types.EqType.CONNECT) | np.any(
       m.eq_type == types.EqType.WELD
diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py
@@ -441,6 +441,8 @@ def sensor_acc(m: Model, d: Data) -> Data:
       SensorType.ACCELEROMETER,
       SensorType.FORCE,
       SensorType.TORQUE,
+      SensorType.FRAMELINACC,
+      SensorType.FRAMEANGACC,
   }:
     d = smooth.rne_postconstraint(m, d)
 

Original file line number	Diff line number	Diff line change
`@@ -129,6 +129,8 @@ def put_model(`
`129`	`129`	`np.any(m.sensor_type == types.SensorType.ACCELEROMETER)`
`130`	`130`	`\| np.any(m.sensor_type == types.SensorType.FORCE)`
`131`	`131`	`\| np.any(m.sensor_type == types.SensorType.TORQUE)`
	`132`	`+ \| np.any(m.sensor_type == types.SensorType.FRAMELINACC)`
	`133`	`+ \| np.any(m.sensor_type == types.SensorType.FRAMEANGACC)`
`132`	`134`	`)`
`133`	`135`	`eq_connect_weld = np.any(m.eq_type == types.EqType.CONNECT) \| np.any(`
`134`	`136`	`m.eq_type == types.EqType.WELD`