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
@@ -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;