From bbb265da4af9d803e92afb0a14a454d75ebe1623 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Fri, 11 Jul 2025 03:10:23 -0700
Subject: [PATCH] Do not draw touch sensor grid if contact point vis flag is
 disabled.

PiperOrigin-RevId: 781908115
Change-Id: Id42206b1d8b6766352071e20150e2a4047895bf7
---
 plugin/sensor/touch_stress.cc | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/plugin/sensor/touch_stress.cc b/plugin/sensor/touch_stress.cc
index 7ec924f7..9eaabd1e 100644
--- a/plugin/sensor/touch_stress.cc
+++ b/plugin/sensor/touch_stress.cc
@@ -407,6 +407,9 @@ static const mjtNum kRelativeThickness = 0.02;
 
 void TouchStress::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
                              mjvScene* scn, int instance) {
+  if (!opt->flags[mjVIS_CONTACTPOINT]) {
+    return;
+  }
   mj_markStack(d);
 
   // Get sensor data.