Fix MJX forward, passive, and sensor parity with native MuJoCo - #3440
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Fix MJX forward, passive, and sensor parity with native MuJoCo#3440Ayush7614 wants to merge 1 commit into
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Constraint-free models now still evaluate acceleration-stage sensors; spring/damper disable flags are independent; actuation disable clears actuator velocity/force; frame-acceleration applies cutoff; empty contact capacity no longer crashes touch/contact sensors; and camprojection uses a sign-preserving near-zero denominator guard.
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Summary
efc_Jis empty (constraint-free models), matching nativemj_forward.AND, notOR) so disabling springs still leaves damping, gravcomp, and fluid forces.actuator_velocityandactuator_force(not onlyqfrc_actuator).FRAMELINACC/FRAMEANGACC; handle empty contact capacity for touch/contact sensors; use a sign-preserving near-zero denominator guard in camprojection.These are standalone correctness gaps (not tied to an existing issue). Each change was reproduced against native MuJoCo and covered by new parity tests.
Test plan
python -m mujoco.mjx._src.forward_test ForwardTest.test_constraint_free_actuatorfrc_sensor ForwardTest.test_disable_actuation_zeros_actuator_velocitypython -m mujoco.mjx._src.passive_test PassiveTest.test_disable_spring_keeps_damperpython -m mujoco.mjx._src.sensor_test SensorTest.test_framelinacc_cutoff SensorTest.test_touch_with_empty_contact_capacity SensorTest.test_camprojection_near_camera_plane