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Fix MJX contact sensor.

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PiperOrigin-RevId: 791317188
Change-Id: I97e2020f99742d9bb3cb798d4b5354b51fdda2e2
This commit is contained in:
Taylor Howell
2025-08-05 12:11:05 -07:00
committed by Copybara-Service
parent 784c7a419b
commit 3821ff1dcf
1 changed files with 1 additions and 1 deletions
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mjx/mujoco/mjx/_src/sensor.py
+1 -1
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@@ -684,7 +684,7 @@ def sensor_acc(m: Model, d: Data) -> Data:
slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 1]) slot.append(flip[:, 2, None] * d._impl.contact.frame[cid, 1])
found = is_contact[cid] & match 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( adrs.append(
(adr[idx_ds][:, None] + np.arange(num * size)[None]).reshape(-1) (adr[idx_ds][:, None] + np.arange(num * size)[None]).reshape(-1)
) )