Internal change.

PiperOrigin-RevId: 842636101 Change-Id: I5fc8e1f5e4caee9d909963ebe396572b13b455b7
2025-12-10 02:57:37 -08:00
parent 9c1b8d8cfb
commit 11f0997edf
7 changed files with 215 additions and 7 deletions
@@ -103,6 +103,8 @@ def fwd_velocity(m: Model, d: Data) -> Data:
@named_scope
 def fwd_actuation(m: Model, d: Data) -> Data:
  """Actuation-dependent computations."""
+  if not isinstance(d._impl, DataJAX):
+    raise ValueError('fwd_actuation requires JAX backend implementation.')
  if not m.nu or m.opt.disableflags & DisableBit.ACTUATION:
    return d.replace(
        act_dot=jp.zeros((m.na,)),