From 0eb2f9f11881b937c4c093b1061e062323059731 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 18 Jul 2025 07:22:01 -0700
Subject: [PATCH] Use meshid in touch sensor for mesh geoms.

PiperOrigin-RevId: 784575734
Change-Id: Ibca753273c67128c6c1421dad8413814dce31182
---
 plugin/sensor/touch_stress.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/plugin/sensor/touch_stress.cc b/plugin/sensor/touch_stress.cc
index 03502f33..b9e370f6 100644
--- a/plugin/sensor/touch_stress.cc
+++ b/plugin/sensor/touch_stress.cc
@@ -296,6 +296,9 @@ void TouchStress::Compute(const mjModel* m, mjData* d, int instance) {
     if (m->geom_type[geom] == mjGEOM_SDF) {
       sdf_instance[0] = m->geom_plugin[geom];
       sdf_ptr[0] = mjc_getSDF(m, geom);
+    } else if (m->geom_type[geom] == mjGEOM_MESH) {
+      sdf_instance[0] = m->geom_dataid[geom];
+      geomtype[0] = (mjtGeom)m->geom_type[geom];
     } else {
       sdf_instance[0] = geom;
       geomtype[0] = (mjtGeom)m->geom_type[geom];