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Add test for Flex contact and touch sensors.

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The test verifies that contact sensors on subtrees and touch sensors on sites correctly register contacts involving Flex components.

PiperOrigin-RevId: 929109418
Change-Id: I1865311a6da838d75ef33989ac7f3c2d975cdbff
This commit is contained in:
Adrian Collister
2026-06-09 04:28:55 -07:00
committed by Copybara-Service
parent 763e713d1b
commit 6f0246baf3
1 changed files with 54 additions and 0 deletions
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test/engine/engine_sensor_test.cc
+54
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@@ -1813,5 +1813,59 @@ TEST_F(SensorTest, TactileMeshIdMismatchedValidator) {
mj_deleteModel(m);
}
// Test that contact and touch sensors work with Flex contacts.
TEST_F(SensorTest, FlexContactSensors) {
static constexpr char xml[] = R"(
<mujoco>
<option gravity="0 0 -9.81"/>
<worldbody>
<geom name="floor" type="plane" size="1 1 10"/>
<body name="parent" pos="0 0 0.005">
<flexcomp name="soft" type="grid" dof="trilinear" cellcount="2 2 2"
count="7 8 9" radius="0.01" dim="3" mass="1"
spacing="0.05 0.05 0.05">
<elasticity young="5e4" poisson="0.2"/>
<contact selfcollide="none"/>
</flexcomp>
</body>
<site name="floor_site" type="box" size="1 1 0.01" pos="0 0 0"/>
</worldbody>
<sensor>
<contact name="flex_contact_subtree" subtree1="parent"/>
<contact name="flex_contact_body" body1="parent"/>
<touch name="floor_touch" site="floor_site"/>
</sensor>
</mujoco>
)";
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mjData* d = mj_makeData(m);
mj_forward(m, d);
// We expect at least one contact between the flex and the floor
ASSERT_GT(d->ncon, 0) << "No contacts generated";
// Check the contact sensor "flex_contact_subtree"
vector flex_contact_subtree = GetSensor(m, d, "flex_contact_subtree");
EXPECT_GT(flex_contact_subtree[0], 0)
<< "Flex contact sensor (subtree) did not detect any contacts";
// Check the contact sensor "flex_contact_body"
vector flex_contact_body = GetSensor(m, d, "flex_contact_body");
EXPECT_EQ(flex_contact_body[0], 0)
<< "Flex contact sensor (body) should not match contacts on child bodies";
// Check the touch sensor "floor_touch"
vector floor_touch = GetSensor(m, d, "floor_touch");
EXPECT_GT(floor_touch[0], 0.0)
<< "Floor touch sensor did not detect any force";
mj_deleteData(d);
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco