From 3821ff1dcf9c2da4b7da08940039cbee7a11aa95 Mon Sep 17 00:00:00 2001 From: Taylor Howell Date: Tue, 5 Aug 2025 12:11:05 -0700 Subject: [PATCH] Fix MJX contact sensor. PiperOrigin-RevId: 791317188 Change-Id: I97e2020f99742d9bb3cb798d4b5354b51fdda2e2 --- mjx/mujoco/mjx/_src/sensor.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/mjx/mujoco/mjx/_src/sensor.py b/mjx/mujoco/mjx/_src/sensor.py index ad16d2ef..1ab91465 100644 --- a/mjx/mujoco/mjx/_src/sensor.py +++ b/mjx/mujoco/mjx/_src/sensor.py @@ -684,7 +684,7 @@ def sensor_acc(m: Model, d: Data) -> Data: slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 1]) found = is_contact[cid] & match - sensors.append((found[:, None] * np.hstack(slot)).reshape(-1)) + sensors.append((found[:, None] * jp.hstack(slot)).reshape(-1)) adrs.append( (adr[idx_ds][:, None] + np.arange(num * size)[None]).reshape(-1) )