Move tactile sensor to the engine.

PiperOrigin-RevId: 788863133 Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:26:39 -07:00
parent 89f4789085
commit 51babec9c5
28 changed files with 418 additions and 687 deletions
@@ -487,10 +487,11 @@ class SpecsTest(absltest.TestCase):
  def test_make_mesh(self):
    spec = mujoco.MjSpec()
    mesh = spec.add_mesh(name='wedge')
-    mesh.make_wedge(resolution=[25, 25], radius=1, fov=[90, 45], gamma=0)
+    mesh.make_wedge(resolution=[25, 25], radius=.1, fov=[90, 45], gamma=0)
    model = spec.compile()
    self.assertEqual(model.nmesh, 1)
    self.assertEqual(model.nmeshvert, 25 * 25)
+    np.testing.assert_array_equal(model.mesh_scale[0], [0.1, 0.1, 0.1])

  def test_compile_errors_with_line_info(self):
    spec = mujoco.MjSpec()