From a6687885a530af9506ae3eec66061ff1c9981059 Mon Sep 17 00:00:00 2001
From: Yuval Tassa <tassa@google.com>
Date: Mon, 6 Nov 2023 04:51:10 -0800
Subject: [PATCH] In `mj_sensorAcc`, flip condition for triggering call to
 `mj_rnePostConstraint` to enumerate sensors that require the call rather than
 eliminating those that do not.

PiperOrigin-RevId: 579804886
Change-Id: I1093fcfa66e637015cd702d7e59ec3bcddc670ef
---
 src/engine/engine_sensor.c | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/engine/engine_sensor.c b/src/engine/engine_sensor.c
index 28ecb022..0e7be718 100644
--- a/src/engine/engine_sensor.c
+++ b/src/engine/engine_sensor.c
@@ -688,12 +688,12 @@ void mj_sensorAcc(const mjModel* m, mjData* d) {
       adr = m->sensor_adr[i];
 
       // call mj_rnePostConstraint when first relevant sensor is encountered
-      if (rnePost == 0                  &&
-          type != mjSENS_TOUCH          &&
-          type != mjSENS_ACTUATORFRC    &&
-          type != mjSENS_JOINTACTFRC    &&
-          type != mjSENS_JOINTLIMITFRC  &&
-          type != mjSENS_TENDONLIMITFRC) {
+      if (rnePost == 0  && (type == mjSENS_ACCELEROMETER ||
+                            type == mjSENS_FORCE         ||
+                            type == mjSENS_TORQUE        ||
+                            type == mjSENS_FRAMELINACC   ||
+                            type == mjSENS_FRAMEANGACC   ||
+                            type == mjSENS_USER)) {
         // compute cacc, cfrc_int, cfrc_ext
         mj_rnePostConstraint(m, d);