diff --git a/mjx/mujoco/mjx/_src/io.py b/mjx/mujoco/mjx/_src/io.py
index 54ac3dac..01815012 100644
--- 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
index 5d040052..7c3a5c87 100644
--- 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)