Initial implementation of contact sensor for MJX JAX backend.

PiperOrigin-RevId: 786742643 Change-Id: Idabd98320a4716c597bb596e32a8a90f3cd5f356
2025-07-24 09:58:39 -07:00
parent 5eab59d026
commit ddb7eb07c7
7 changed files with 323 additions and 15 deletions
@@ -432,13 +432,13 @@ def forward(m: Model, d: Data) -> Data:
  d = sensor.sensor_vel(m, d)
  d = fwd_actuation(m, d)
  d = fwd_acceleration(m, d)
-  d = sensor.sensor_acc(m, d)

  if d._impl.efc_J.size == 0:
    d = d.replace(qacc=d.qacc_smooth)
    return d

  d = named_scope(solver.solve)(m, d)
+  d = sensor.sensor_acc(m, d)

  return d