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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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test/fixture.cc
+12 -7
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@@ -232,12 +232,16 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints, exclude nbuffer because it hides the actual difference
#define X(name) \
if constexpr (std::string_view(#name) != "nbuffer") { \
if (m1->name != m2->name) { \
maxdif = std::abs((long)m1->name - (long)m2->name); \
field = #name; \
} \
// TODO(kylebayes): re-enable poly comparisons.
#define X(name) \
if constexpr (std::string_view(#name) != "nbuffer" && \
std::string_view(#name) != "nmeshpolymap" && \
std::string_view(#name) != "nmeshpolyvert" && \
std::string_view(#name) != "nmeshpoly") { \
if (m1->name != m2->name) { \
maxdif = std::abs((long)m1->name - (long)m2->name); \
field = #name; \
} \
}
MJMODEL_INTS
#undef X
@@ -247,7 +251,8 @@ mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
// those are sensitive to numerical differences when meshes are perfectly
// symmetric.
#define X(type, name, nr, nc) \
if (strncmp(#name, "bvh_", 4) && strncmp(#name, "flex_vert0", 4)) { \
if (strncmp(#name, "bvh_", 4) && strncmp(#name, "flex_vert0", 4) && \
strncmp(#name, "mesh_poly", 4)) { \
for (int r = 0; r < m1->nr; r++) { \
for (int c = 0; c < nc; c++) { \
dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \