Add example test

newton-physics · camevor · Nov 28, 2025 · Dec 1, 2025 · Dec 9, 2025 · Dec 11, 2025
commit 8f25d324b83cc2a03ae94f454e9af04b68a2e70e
diff --git a/newton/examples/sensors/example_sensor_imu.py b/newton/examples/sensors/example_sensor_imu.py
@@ -13,6 +13,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.

+import numpy as np
 import warp as wp
 from pxr import Usd

@@ -169,6 +170,17 @@ def step(self):
    def test(self):
        pass

+    def test_final(self):
+        acc = self.imu.accelerometer.numpy()
+        gravity_mag = np.linalg.norm(self.model.gravity.numpy()[0])
+
+        # Cubes settle with different faces up: cube 0 → Y, cube 1 → X, cube 2 → Z
+        expected_axes = [1, 0, 2]
+
+        for i, expected_axis in enumerate(expected_axes):
+            np.testing.assert_allclose(np.linalg.norm(acc[i]), gravity_mag, rtol=0.05)
+            assert abs(acc[i][expected_axis]) > gravity_mag * 0.95
+
    def render(self):
        self.viewer.begin_frame(self.sim_time)
        self.viewer.log_state(self.state_0)

diff --git a/newton/tests/test_examples.py b/newton/tests/test_examples.py
@@ -625,6 +625,14 @@ class TestSensorExamples(unittest.TestCase):
    use_viewer=True,
 )

+add_example_test(
+    TestSensorExamples,
+    name="sensors.example_sensor_imu",
+    devices=test_devices,
+    test_options={"num-frames": 200},  # allow cubes to settle
+    use_viewer=True,
+)
+

 class TestMPMExamples(unittest.TestCase):
    pass