Added touch grid sensor plugin.

PiperOrigin-RevId: 527512624
Change-Id: I0f316eb6eb2c52472abbec484e5538b66ba2e82e

test/plugin/sensor/sensor_test.cc

@@ -0,0 +1,45 @@
+// Copyright 2023 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Tests for sensor plugins.
+
+#include <string>
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <mujoco/mjmodel.h>
+#include <mujoco/mujoco.h>
+#include "test/fixture.h"
+
+namespace mujoco {
+namespace {
+
+using SensorPluginTest = MujocoTest;
+
+static const char* const kTOuchGridPath =
+    "plugin/sensor/testdata/touch_grid_test.xml";
+
+TEST_F(SensorPluginTest, ValidAttributes) {
+  const std::string xml_path = GetTestDataFilePath(kTOuchGridPath);
+  char error[1024] = {0};
+  mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, error, sizeof(error));
+  ASSERT_THAT(model, testing::NotNull()) << error;
+  int nchannel = 3;
+  int size_x = 6;
+  int size_y = 2;
+  EXPECT_THAT(model->sensor_dim[0], nchannel * size_x * size_y);
+  mj_deleteModel(model);
+}
+
+}  // namespace
+}  // namespace mujoco