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Do not draw touch sensor grid if contact point vis flag is disabled.

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PiperOrigin-RevId: 781908115
Change-Id: Id42206b1d8b6766352071e20150e2a4047895bf7
This commit is contained in:
Alessio Quaglino
2025-07-11 03:10:23 -07:00
committed by Copybara-Service
parent 3c99705f85
commit bbb265da4a
1 changed files with 3 additions and 0 deletions
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plugin/sensor/touch_stress.cc
+3
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@@ -407,6 +407,9 @@ static const mjtNum kRelativeThickness = 0.02;
void TouchStress::Visualize(const mjModel* m, mjData* d, const mjvOption* opt, void TouchStress::Visualize(const mjModel* m, mjData* d, const mjvOption* opt,
mjvScene* scn, int instance) { mjvScene* scn, int instance) {
if (!opt->flags[mjVIS_CONTACTPOINT]) {
return;
}
mj_markStack(d); mj_markStack(d);
// Get sensor data. // Get sensor data.