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Use meshid in touch sensor for mesh geoms.

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PiperOrigin-RevId: 784575734
Change-Id: Ibca753273c67128c6c1421dad8413814dce31182
This commit is contained in:
Alessio Quaglino
2025-07-18 07:22:01 -07:00
committed by Copybara-Service
parent c2820941aa
commit 0eb2f9f118
1 changed files with 3 additions and 0 deletions
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plugin/sensor/touch_stress.cc
+3
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@@ -296,6 +296,9 @@ void TouchStress::Compute(const mjModel* m, mjData* d, int instance) {
if (m->geom_type[geom] == mjGEOM_SDF) { if (m->geom_type[geom] == mjGEOM_SDF) {
sdf_instance[0] = m->geom_plugin[geom]; sdf_instance[0] = m->geom_plugin[geom];
sdf_ptr[0] = mjc_getSDF(m, 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 { } else {
sdf_instance[0] = geom; sdf_instance[0] = geom;
geomtype[0] = (mjtGeom)m->geom_type[geom]; geomtype[0] = (mjtGeom)m->geom_type[geom];