Rename SolverContactProbeSensorOptionsMixin -> FilterableTactileProbeSensorOptionsMixin

The mixin's only contribution over TactileProbeSensorOptionsMixin is
filter_link_idx (+ its validation); nothing "solver-contact" specific lives in
it - that's in the sensor implementations. Name it for what it adds: the
subset of tactile probes that support counterpart-link contact filtering. The
point-cloud probes (Elastomer/Proximity) intentionally stay unfiltered - they
already scope via track_link_idx (an allowlist), the dual of filter_link_idx.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>

Author: Milotrince

genesis/options/sensors/tactile.py

@@ -61,7 +61,7 @@ class TactileProbeSensorOptionsMixin(ProbeSensorOptionsMixin[SensorT]):
     debug_contact_color: UnitIntervalVec4Type = (1.0, 0.2, 0.0, 0.8)
 
 
-class SolverContactProbeSensorOptionsMixin(TactileProbeSensorOptionsMixin[SensorT]):
+class FilterableTactileProbeSensorOptionsMixin(TactileProbeSensorOptionsMixin[SensorT]):
     """
     Options for tactile probe sensors that resolve depth against the physics solver's active contact pairs (as
     opposed to a sampled point cloud), and can therefore scope which contacts count by the counterpart link.
@@ -107,7 +107,7 @@ class PointCloudTactileSensorMixin(TactileProbeSensorOptionsMixin[SensorT]):
 class ContactProbe(
     RigidSensorOptionsMixin["ContactProbeSensor"],
     SimpleSensorOptions["ContactProbeSensor"],
-    SolverContactProbeSensorOptionsMixin["ContactProbeSensor"],
+    FilterableTactileProbeSensorOptionsMixin["ContactProbeSensor"],
 ):
     """
     Returns boolean contact per probe based on the contact depth threshold.
@@ -124,7 +124,7 @@ class ContactProbe(
 class ContactDepthProbe(
     RigidSensorOptionsMixin["ContactDepthProbeSensor"],
     SimpleSensorOptions["ContactDepthProbeSensor"],
-    SolverContactProbeSensorOptionsMixin["ContactDepthProbeSensor"],
+    FilterableTactileProbeSensorOptionsMixin["ContactDepthProbeSensor"],
 ):
     """
     Returns contact depth in meters per probe.
@@ -134,7 +134,7 @@ class ContactDepthProbe(
 class KinematicTaxel(
     RigidSensorOptionsMixin["KinematicTaxelSensor"],
     SimpleSensorOptions["KinematicTaxelSensor"],
-    SolverContactProbeSensorOptionsMixin["KinematicTaxelSensor"],
+    FilterableTactileProbeSensorOptionsMixin["KinematicTaxelSensor"],
     ProbesWithNormalSensorOptionsMixin["KinematicTaxelSensor"],
 ):
     """