Move tactile sensor to the engine.

PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1

src/user/user_api.cc

@@ -1166,6 +1166,11 @@ int mjs_sensorDim(const mjsSensor* sensor) {
   case mjSENS_CONTACT:
     return sensor->intprm[2] * mju_condataSize(sensor->intprm[0]);
 
+  case mjSENS_TACTILE:
+    return 3 * static_cast<const mjCMesh*>(
+                   static_cast<mjCSensor*>(sensor->element)->get_obj())
+                   ->nvert();
+
   case mjSENS_USER:
     return sensor->dim;
 

src/user/user_objects.cc

@@ -6720,9 +6720,12 @@ void mjCSensor::ResolveReferences(const mjCModel* m) {
       throw mjCError(this, "unrecognized name '%s' of sensorized object", objname_.c_str());
     }
 
-    // if geom mark it as non visual
+    // if geom or mesh, mark it as non visual
     if (objtype == mjOBJ_GEOM) {
-      ((mjCGeom*)obj)->SetNotVisual();
+      static_cast<mjCGeom*>(obj)->SetNotVisual();
+    }
+    if (objtype == mjOBJ_MESH) {
+      static_cast<mjCMesh*>(obj)->SetNotVisual();
     }
 
   } else if (type != mjSENS_E_POTENTIAL &&
@@ -6746,6 +6749,14 @@ void mjCSensor::ResolveReferences(const mjCModel* m) {
       throw mjCError(this, "unrecognized name '%s' of object", refname_.c_str());
     }
 
+    // if geom or mesh, mark it as non visual
+    if (reftype == mjOBJ_GEOM) {
+      static_cast<mjCGeom*>(ref)->SetNotVisual();
+    }
+    if (reftype == mjOBJ_MESH) {
+      static_cast<mjCMesh*>(ref)->SetNotVisual();
+    }
+
     // must be attached to object with spatial frame
     if (reftype != mjOBJ_BODY && reftype != mjOBJ_XBODY &&
         reftype != mjOBJ_GEOM && reftype != mjOBJ_SITE && reftype != mjOBJ_CAMERA) {
@@ -7147,6 +7158,17 @@ void mjCSensor::Compile(void) {
       }
       break;
 
+    case mjSENS_TACTILE:
+      needstage = mjSTAGE_ACC;
+      datatype = mjDATATYPE_REAL;
+      if (objtype != mjOBJ_MESH) {
+        throw mjCError(this, "sensor must be associated with a mesh");
+      }
+      if (reftype != mjOBJ_GEOM) {
+        throw mjCError(this, "sensor must be associated with a geom");
+      }
+      break;
+
     case mjSENS_PLUGIN:
       datatype = mjDATATYPE_REAL; // no noise added to plugin sensors, this attribute is unused
 

src/user/user_objects.h

@@ -1799,6 +1799,9 @@ class mjCSensor : public mjCSensor_, private mjsSensor {
   const std::string& get_objname() { return spec_objname_; }
   const std::string& get_refname() { return spec_refname_; }
 
+  const mjCBase* get_obj() { return obj; }
+  const mjCBase* get_ref() { return ref; }
+
  private:
   void Compile(void);             // compiler
   void CopyFromSpec();