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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_writer.cc
+5
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@@ -2238,6 +2238,11 @@ void mjXWriter::Sensor(XMLElement* root) {
WriteAttrKey(elem, "reduce", reduce_map, reduce_sz, sensor->intprm[1], 0);
}
break;
case mjSENS_TACTILE:
elem = InsertEnd(section, "tactile");
WriteAttrTxt(elem, "geom", sensor->get_refname());
WriteAttrTxt(elem, "mesh", sensor->get_objname());
break;
// global sensors
case mjSENS_E_POTENTIAL:
elem = InsertEnd(section, "potential");