chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add rne_postconstraint dependence for FRAMELINACC and FRAMEANGACC sensors to MJX.

Browse Source 
PiperOrigin-RevId: 746009774
Change-Id: Ide45298b463f1ad04f1ffa7f60a7a8aeaf18f063
This commit is contained in:
Taylor Howell
2025-04-10 06:47:39 -07:00
committed by Copybara-Service
parent 51c489fc30
commit 3c530976e3
2 changed files with 4 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
mjx/mujoco/mjx/_src/io.py
+2
View File
@@ -129,6 +129,8 @@ def put_model(
np.any(m.sensor_type == types.SensorType.ACCELEROMETER) np.any(m.sensor_type == types.SensorType.ACCELEROMETER)
| np.any(m.sensor_type == types.SensorType.FORCE) | np.any(m.sensor_type == types.SensorType.FORCE)
| np.any(m.sensor_type == types.SensorType.TORQUE) | 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( eq_connect_weld = np.any(m.eq_type == types.EqType.CONNECT) | np.any(
m.eq_type == types.EqType.WELD m.eq_type == types.EqType.WELD
mjx/mujoco/mjx/_src/sensor.py
+2
View File
@@ -441,6 +441,8 @@ def sensor_acc(m: Model, d: Data) -> Data:
SensorType.ACCELEROMETER, SensorType.ACCELEROMETER,
SensorType.FORCE, SensorType.FORCE,
SensorType.TORQUE, SensorType.TORQUE,
SensorType.FRAMELINACC,
SensorType.FRAMEANGACC,
}: }:
d = smooth.rne_postconstraint(m, d) d = smooth.rne_postconstraint(m, d)