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