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Allow contact sensor subtree1/subtree2 to be any body.

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PiperOrigin-RevId: 799632590
Change-Id: If9cd6c5a3a5f83d89ae024a8f64232ab1f1d603a
This commit is contained in:
Yuval Tassa
2025-08-26 10:59:44 -07:00
committed by Copybara-Service
parent 9eaa31af2f
commit 7443e685ac
7 changed files with 64 additions and 32 deletions
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test/engine/engine_sensor_test.cc
+25 -2
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@@ -708,8 +708,6 @@ TEST_F(SensorTest, BadContact) {
"at most one of (geom1, body1, subtree1, site) can be specified"},
{"geom2='sphere1' body2='body'",
"at most one of (geom2, body2, subtree2) can be specified"},
{"subtree1='non_root'",
"must be a child of the world"}
};
for (const auto& test : test_cases) {
@@ -870,6 +868,31 @@ TEST_F(SensorTest, ContactSubtree) {
mj_deleteModel(model);
}
TEST_F(SensorTest, ContactSubtreePartial) {
const string xml_path =
GetTestDataFilePath("engine/testdata/sensor/contact_subtree_partial.xml");
char error[1024];
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mjData* data = mj_makeData(model);
while (data->time < 0.6) {
mj_step(model, data);
}
EXPECT_EQ(GetSensor(model, data, "all")[0], 4);
EXPECT_EQ(GetSensor(model, data, "world")[0], 4);
EXPECT_EQ(GetSensor(model, data, "thigh")[0], 4);
EXPECT_EQ(GetSensor(model, data, "shin")[0], 2);
EXPECT_EQ(GetSensor(model, data, "foot")[0], 1);
EXPECT_EQ(GetSensor(model, data, "foot_w")[0], 0);
EXPECT_EQ(GetSensor(model, data, "foot_w2")[0], 1);
mj_deleteData(data);
mj_deleteModel(model);
}
TEST_F(SensorTest, ContactNet) {
const string xml_path =
GetTestDataFilePath("engine/testdata/sensor/contact_net.xml");