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internal change

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PiperOrigin-RevId: 689931872
Change-Id: Icc7b261b6d98e181a6bf0845f44a050af2833db2
This commit is contained in:
Baruch Tabanpour
2024-10-25 15:28:29 -07:00
committed by Copybara-Service
parent f24de91cc9
commit 078c7bb42e
1 changed files with 1 additions and 1 deletions
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mjx/mujoco/mjx/_src/collision_driver.py
+1 -1
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@@ -377,11 +377,11 @@ def collision(m: Model, d: Data) -> Data:
if d.ncon == 0: if d.ncon == 0:
return d return d
groups = _contact_groups(m, d)
max_geom_pairs = _numeric(m, 'max_geom_pairs') max_geom_pairs = _numeric(m, 'max_geom_pairs')
max_contact_points = _numeric(m, 'max_contact_points') max_contact_points = _numeric(m, 'max_contact_points')
# run collision functions on groups # run collision functions on groups
groups = _contact_groups(m, d)
for key, contact in groups.items(): for key, contact in groups.items():
# determine which contacts we'll use for collision testing by running a # determine which contacts we'll use for collision testing by running a
# broad phase cull if requested # broad phase cull if requested