[FEATURE] Add new tactile sensors#2735
[FEATURE] Add new tactile sensors#2735Milotrince wants to merge 6 commits intoGenesis-Embodied-AI:mainfrom
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| _fill_probe_effective_r_buffer( | ||
| shared_metadata.probe_effective_r_buf, | ||
| shared_metadata.probe_radius, | ||
| shared_metadata.probe_radius_noise, |
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read_ground_truth() is expected to be noiseless, but this ground-truth path samples probe_effective_r_buf with probe_radius_noise, so two identical simulation states can produce different “ground-truth” outputs whenever probe_radius_noise > 0. That corrupts labels for evaluation/training workflows that rely on deterministic ground truth; the same issue also exists in the analogous PressurePatchSensor ground-truth update path.
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I'm awaiting discussion on #2655 for this. I think we should have a single update_shared_cache instead of update_shared_ground_truth_cache first.
Milotrince
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Description
PressurePatch(total pressure, center of pressure) andProximityTaxel(force/torque per taxel) sensors.KinematicContactProbetoContactDepthProbe(depth only) andKinematicTaxel(force/torque per taxel)Proximitysensor toSurfaceDistanceProbeRelated Issue
Resolves #2676
Motivation and Context
How Has This Been / Can This Be Tested?
Added tests to
test_sensors.pyScreenshots (if appropriate):
Screen.Recording.2026-04-24.at.12.25.42.mov
Screen.Recording.2026-04-24.at.12.30.22.mov
Checklist:
Submitting Code Changessection of CONTRIBUTING document.