代码 · verified_hold
审核码：verified_hold; 官方关系：upstream_simulator_plugin_not_paper_controller_release; 最近核验：2026-08-13代码：MujocoTactileSensorPlugin is publicly referenced upstream only
权重：not applicable
数据：no paper physical logs or calibration released
许可证：upstream_repository_terms_must_be_checked_separately；No controller-specific artifact grant is inferred from the upstream plugin.
依赖：mc_rtc-style whole-body framework、MuJoCo/JVRC1 for simulation、distributed e-skin and force/torque sensors、contact schedule/planner
硬件/传感器：RHP Kaleido life-sized humanoid、distributed e-skin on limbs、on-board controller not fully specified
实机证据：RHP Kaleido author demonstrations: forearm-contact stepping and thigh-contact seated balance.
独立复现：None verified.
限制/反面证据：No controller source；No RHP model/calibration；No real logs；No physical trial denominator；No independent reproduction
当前建议：人形全身触觉控制工程锚点·待复现；Use as a systems comparison anchor; do not adopt from the upstream plugin alone.
重点标签：人形全身控制、分布式触觉、多接触稳定、上游插件非方法发布
核验来源：来源 1 · 来源 2