51babec9c5
Move tactile sensor to the engine.
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PiperOrigin-RevId: 788863133
Change-Id: I3172ebb7641fa8146469da25cba7db794760e7b1
2025-07-30 05:27:44 -07:00
4bbd0fb9c7
Do not store grid edges in tactile sensor.
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This is in preparation for extending support to store the grid as a mesh.
PiperOrigin-RevId: 786281232
Change-Id: Ic718c2d2e1891cf0b66113270fd3c98acc1e74a5
2025-07-23 08:00:51 -07:00
0eb2f9f118
Use meshid in touch sensor for mesh geoms.
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PiperOrigin-RevId: 784575734
Change-Id: Ibca753273c67128c6c1421dad8413814dce31182
2025-07-18 07:23:04 -07:00
e23226509c
Tidy up of touch stress plugin.
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PiperOrigin-RevId: 784186240
Change-Id: I47298ff2b7676a540781561817670c5f00c1b63a
2025-07-17 08:14:49 -07:00
5069534a5c
Small (~10%) performance improvement in touch sensor by avoiding a transpose.
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PiperOrigin-RevId: 783682096
Change-Id: I8311ee8fe9f64996db852969a70398c66fca4e48
2025-07-16 03:05:05 -07:00
4ea778f2d3
Add octree support to MJX API.
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Also, enable the touch sensor to use the octree SDF.
PiperOrigin-RevId: 783313462
Change-Id: I0032c2a7164f4770aa10a3612db3fd70bea954db
2025-07-15 06:44:43 -07:00
bbb265da4a
Do not draw touch sensor grid if contact point vis flag is disabled.
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PiperOrigin-RevId: 781908115
Change-Id: Id42206b1d8b6766352071e20150e2a4047895bf7
2025-07-11 03:11:26 -07:00
35665c5cb3
Skip mesh geoms in touch sensor.
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Also, use geom_rbound for the sensor size and check that there is at least one collision geom.
PiperOrigin-RevId: 772928954
Change-Id: I56f1577df66213a70fb1dc12488fbcd2f8a4b8b4
2025-06-18 08:24:37 -07:00
2386dfd7da
Add touch sensor for estimating the surface contact stresses from the SDF.
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PiperOrigin-RevId: 758556339
Change-Id: Ib56d76fab084b530fd68d61a29294cb6f1d05f3f
2025-05-14 00:45:58 -07:00
19388eee0c
Fix type errors in engine and plugins.
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- Preparation for a float32 build of MuJoCo.
- Fix use of `float`-typed `fabs` in `mju_eig3`.
PiperOrigin-RevId: 643804942
Change-Id: I89f64e8fd39f4e70e78d7607816283e217912383
2024-06-16 12:35:05 -07:00
6067048537
Deprecate mju_rotVecMat and mju_rotVecMatT in favor of mju_mulMatVec3 and mju_mulMatTVec3.
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These functions names and argument ordering are more consistent with the rest of the API.
PiperOrigin-RevId: 643788290
Change-Id: I783eda8021b80b82098e23ed95669b102bb82508
2024-06-16 10:02:36 -07:00
4929077211
Remove mjMARKSTACK and mjFREESTACK macros.
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PiperOrigin-RevId: 562844184
Change-Id: Id2f57f5d132c47094dad75c6dab7297d7aa73458
2023-09-05 11:41:43 -07:00
b979a26b10
Rename mj_stackAlloc to mj_stackAllocNum.
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PiperOrigin-RevId: 561040193
Change-Id: I49ea21ffb5b596471d2aacefb1961c11c5c905d0
2023-08-29 08:43:03 -07:00
8421544add
Added elasticity and sensor subfolders in model/plugin.
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PiperOrigin-RevId: 558751363
Change-Id: I15acefc88e5fead1069b58ffb722ea4dc5d53c9b
2023-08-21 04:48:45 -07:00
b36c611745
Fixes to touch_grid config parsing.
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PiperOrigin-RevId: 530561729
Change-Id: I67f6dfd137aa54ce2141e5d5c30b5b888665c4a2
2023-05-09 03:42:06 -07:00
e59720833e
Add ReadVector function to touch_grid plugin, use it for size and field-of-view attributes.
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PiperOrigin-RevId: 528783871
Change-Id: Icf3d060116826b01f68c9818a5153be4ce9511b0
2023-05-02 08:01:10 -07:00
4d2bf636ea
Improve touch_grid sensor documentation.
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PiperOrigin-RevId: 528473107
Change-Id: I2fecc10667b1b94a4b2b32653685f0a6d9da4ba9
2023-05-01 08:01:52 -07:00
b397b3123e
Added touch grid sensor plugin.
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PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e
2023-04-27 02:03:03 -07:00
Alessio Quaglino