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Add touch sensor for estimating the surface contact stresses from the SDF.

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PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
This commit is contained in:
Alessio Quaglino
2025-05-14 00:45:05 -07:00
committed by Copybara-Service
parent 23865c7491
commit 2386dfd7da
11 changed files with 779 additions and 8 deletions
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src/engine/engine_collision_sdf.c
+4 -4
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@@ -265,7 +265,7 @@ void mjc_gradient(const mjModel* m, const mjData* d, const mjSDF* s,
}
// get sdf from geom id
static const mjpPlugin* getSDF(const mjModel* m, int id) {
const mjpPlugin* mjc_getSDF(const mjModel* m, int id) {
int instance = m->geom_plugin[id];
const int nslot = mjp_pluginCount();
const int slot = m->plugin[instance];
@@ -585,7 +585,7 @@ int mjc_MeshSDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g
// get sdf plugin
int instance = m->geom_plugin[g2];
const mjpPlugin* sdf_ptr = getSDF(m, g2);
const mjpPlugin* sdf_ptr = mjc_getSDF(m, g2);
mjtGeom geomtype = mjGEOM_SDF;
// copy into data
@@ -727,12 +727,12 @@ int mjc_SDF(const mjModel* m, const mjData* d, mjContact* con, int g1, int g2, m
mjtGeom geomtypes[2] = {m->geom_type[g2], m->geom_type[g1]};
instance[0] = m->geom_plugin[g2];
sdf_ptr[0] = getSDF(m, g2);
sdf_ptr[0] = mjc_getSDF(m, g2);
// get sdf plugins
if (m->geom_type[g1] == mjGEOM_SDF) {
instance[1] = m->geom_plugin[g1];
sdf_ptr[1] = getSDF(m, g1);
sdf_ptr[1] = mjc_getSDF(m, g1);
} else {
instance[1] = g1;
sdf_ptr[1] = NULL;