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Change tactile sensor normal component to report penetration depth.

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The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.

PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
This commit is contained in:
Alessio Quaglino
2026-05-27 02:00:00 -07:00
committed by Copybara-Service
parent 583aa5ad4f
commit f6cd0234fd
5 changed files with 18 additions and 27 deletions
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mjx/mujoco/mjx/third_party/mujoco_warp/_src/sensor.py
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+2 -6
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@@ -2252,18 +2252,14 @@ def _sensor_tactile(
)
vel_rel = vel_sensor - vel_other
kMaxDepth = 0.05
pressure = depth / wp.max(kMaxDepth - depth, MJ_MINVAL)
force = wp.mul(normal, pressure)
forceT = wp.vec3(0.0, 0.0, 0.0)
forceT[0] = wp.dot(force, normal)
forceT[0] = -depth
if has_frame:
forceT[1] = wp.abs(wp.dot(vel_rel, tang1))
forceT[2] = wp.abs(wp.dot(vel_rel, tang2))
dim = sensor_dim[sensor_id] // 3
wp.atomic_add(sensordata_out, worldid, sensor_adr[sensor_id] + 0 * dim + vertid, forceT[0])
wp.atomic_max(sensordata_out, worldid, sensor_adr[sensor_id] + 0 * dim + vertid, forceT[0])
wp.atomic_add(sensordata_out, worldid, sensor_adr[sensor_id] + 1 * dim + vertid, forceT[1])
wp.atomic_add(sensordata_out, worldid, sensor_adr[sensor_id] + 2 * dim + vertid, forceT[2])