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Fix tactile sensor body validation.

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PiperOrigin-RevId: 914870657
Change-Id: I57565b4975e0cd7eb1b1ffa199e451a5c5bc0a6e
This commit is contained in:
Taylor Howell
2026-05-13 08:11:04 -07:00
committed by Copybara-Service
parent 17fbc0aeef
commit e1f5534b5f
2 changed files with 30 additions and 2 deletions
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src/engine/engine_io.c
+1 -2
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@@ -2072,8 +2072,7 @@ const char* mj_validateReferences(const mjModel* m) {
return "Invalid model: invalid sensor_refid";
}
if (sensor_type == mjSENS_TACTILE) {
int obj_id = m->sensor_objid[i];
int parent_body = m->geom_bodyid[obj_id];
int parent_body = m->geom_bodyid[m->sensor_refid[i]];
int collision_geoms = 0;
for (int b = 0; b < m->body_geomnum[parent_body]; ++b) {
int geom_id = m->body_geomadr[parent_body]+b;
test/engine/engine_sensor_test.cc
+29
View File
@@ -1784,5 +1784,34 @@ TEST_F(SensorTest, InsideSiteFlexBody) {
mj_deleteModel(m);
}
// Test that a tactile sensor's compile-time body-collision check correctly
// uses the referenced Geom ID instead of mistakenly indexing by Mesh ID.
TEST_F(SensorTest, TactileMeshIdMismatchedValidator) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="sensor_mesh" builtin="sphere" params="0"/>
</asset>
<worldbody>
<body>
<geom size="0.1" contype="0" conaffinity="0"/>
</body>
<body>
<geom name="sensor_geom" type="mesh" mesh="sensor_mesh"/>
</body>
</worldbody>
<sensor>
<tactile geom="sensor_geom" mesh="sensor_mesh"/>
</sensor>
</mujoco>
)";
char error[1024] = {0};
mjModel* m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error;
mj_deleteModel(m);
}
} // namespace
} // namespace mujoco