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Move tactile sensor to the engine.

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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
This commit is contained in:
Alessio Quaglino
2025-07-30 05:26:39 -07:00
committed by Copybara-Service
parent 89f4789085
commit 51babec9c5
28 changed files with 418 additions and 687 deletions
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src/xml/xml_native_reader.cc
+13
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@@ -492,6 +492,7 @@ const char* MJCF[nMJCF][mjXATTRNUM] = {
{"clock", "*", "4", "name", "cutoff", "noise", "user"},
{"user", "*", "9", "name", "objtype", "objname", "datatype", "needstage",
"dim", "cutoff", "noise", "user"},
{"tactile", "*", "4", "name", "geom", "mesh", "user"},
{"plugin", "*", "9", "name", "plugin", "instance", "cutoff", "objtype", "objname", "reftype", "refname",
"user"},
{"<"},
@@ -4297,6 +4298,18 @@ void mjXReader::Sensor(XMLElement* section) {
}
}
// tactile sensor
if (type == "tactile") {
sensor->type = mjSENS_TACTILE;
sensor->reftype = mjOBJ_GEOM;
ReadAttrTxt(elem, "geom", refname, /*required=*/true);
// associate the sensor with a mesh
sensor->objtype = mjOBJ_MESH;
ReadAttrTxt(elem, "mesh", objname, /*required=*/true);
mjs_setString(sensor->objname, objname.c_str());
}
else if (type == "plugin") {
sensor->type = mjSENS_PLUGIN;
OnePlugin(elem, &sensor->plugin);