Added touch grid sensor plugin.

PiperOrigin-RevId: 527512624 Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:02:16 -07:00
parent 139328f86e
commit b397b3123e
17 changed files with 940 additions and 2 deletions
@@ -0,0 +1,42 @@
+# Copyright 2022 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+set(MUJOCO_SENSOR_INCLUDE
+    ${CMAKE_CURRENT_SOURCE_DIR}/../..
+    ${CMAKE_CURRENT_SOURCE_DIR}/../../src
+)
+
+set(MUJOCO_SENSOR_SRCS
+    sensor.cc
+    touch_grid.h
+    touch_grid.cc
+)
+
+add_library(sensor SHARED)
+target_sources(sensor PRIVATE ${MUJOCO_SENSOR_SRCS})
+target_include_directories(sensor PRIVATE ${MUJOCO_SENSOR_INCLUDE})
+target_link_libraries(sensor PRIVATE mujoco)
+target_compile_options(
+  sensor
+  PRIVATE ${AVX_COMPILE_OPTIONS}
+          ${MUJOCO_MACOS_COMPILE_OPTIONS}
+          ${EXTRA_COMPILE_OPTIONS}
+          ${MUJOCO_CXX_FLAGS}
+)
+target_link_options(
+  sensor
+  PRIVATE
+  ${MUJOCO_MACOS_LINK_OPTIONS}
+  ${EXTRA_LINK_OPTIONS}
+)