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Report which body has too-small mass/inertia in compilation error.

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PiperOrigin-RevId: 776196017
Change-Id: Ib81efb170347a57cdc4b446c14cd7b8f5357958c
This commit is contained in:
Yuval Tassa
2025-06-26 10:39:31 -07:00
committed by Copybara-Service
parent afc35451a0
commit 21bae3a388
4 changed files with 7 additions and 23 deletions
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src/user/user_model.cc
+3 -18
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@@ -4515,10 +4515,9 @@ void mjCModel::TryCompile(mjModel*& m, mjData*& d, const mjVFS* vfs) {
}
// check mass and inertia of moving bodies
if (bodies_.size() > 1) {
// we ignore the first body as it is the world body
if (!CheckBodiesMassInertia(std::vector<mjCBody*>(bodies_.begin()+1, bodies_.end()))) {
throw mjCError(0, "mass and inertia of moving bodies must be larger than mjMINVAL");
for (int i=1; i < bodies_.size(); i++) {
if (!bodies_[i]->joints.empty() && !CheckBodyMassInertia(bodies_[i])) {
throw mjCError(bodies_[i], "mass and inertia of moving bodies must be larger than mjMINVAL");
}
}
@@ -4763,20 +4762,6 @@ uint64_t mjCModel::Signature() {
bool mjCModel::CheckBodiesMassInertia(std::vector<mjCBody*> bodies) {
// check mass and inertia of moving bodies
for (int i=0; i < bodies.size(); i++) {
if (!bodies[i]->joints.empty()) {
if (!CheckBodyMassInertia(bodies[i])) {
return false;
}
}
}
return true;
}
bool mjCModel::CheckBodyMassInertia(mjCBody* body) {
// check if body has valid mass and inertia
if (body->mass >= mjMINVAL &&
src/user/user_model.h
-3
View File
@@ -425,9 +425,6 @@ class mjCModel : public mjCModel_, private mjSpec {
// compute qpos0
void ComputeReference();
// return true if all bodies have valid mass and inertia
bool CheckBodiesMassInertia(std::vector<mjCBody*> bodies);
// return true if body has valid mass and inertia
bool CheckBodyMassInertia(mjCBody* body);
test/user/user_mesh_test.cc
+2 -1
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@@ -529,7 +529,7 @@ TEST_F(MjCMeshTest, TinyInertiaFails) {
<mesh name="tiny" vertex="0 0 0 1e-4 0 0 0 1e-4 0 0 0 1e-4"/>
</asset>
<worldbody>
<body>
<body name="tiny_body">
<freejoint/>
<geom type="mesh" mesh="tiny"/>
</body>
@@ -542,6 +542,7 @@ TEST_F(MjCMeshTest, TinyInertiaFails) {
error.data(),
HasSubstr(
"mass and inertia of moving bodies must be larger than mjMINVAL"));
EXPECT_THAT(error.data(), HasSubstr("Element name 'tiny_body'"));
}
TEST_F(MjCMeshTest, FlippedFaceAllowedLegacyInertia) {
test/user/user_model_test.cc
+2 -1
View File
@@ -196,7 +196,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
<worldbody>
<body>
<geom size="1"/>
<body>
<body name="bad">
<freejoint/>
<body>
<body>
@@ -214,6 +214,7 @@ TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
error,
HasSubstr(
"mass and inertia of moving bodies must be larger than mjMINVAL"));
EXPECT_THAT(error, HasSubstr("Element name 'bad'"));
mj_deleteModel(model);
}