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
Alessio Quaglino