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Add body/simple attribute to control simple body optimization.

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PiperOrigin-RevId: 942164766
Change-Id: I1e83bb99b6a1955917eb9b2e9bed0dc7b8e6a161
This commit is contained in:
Yuval Tassa
2026-07-03 09:08:42 -07:00
committed by Copybara-Service
parent 4ecfe5c1f3
commit 5618666a7d
19 changed files with 205 additions and 10 deletions
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test/engine/engine_setconst_test.cc
+37 -6
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@@ -329,10 +329,12 @@ TEST_F(SetConstTest, TendonTreeId) {
int t_static_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_static");
int t_tree1_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_tree1");
int t_intertree12_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree12");
int t_intertree123_id = mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree123");
int b1_1_treeid = model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B1_1")];
int b2_1_treeid = model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B2_1")];
int t_intertree123_id =
mj_name2id(model.get(), mjOBJ_TENDON, "T_intertree123");
int b1_1_treeid =
model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B1_1")];
int b2_1_treeid =
model->body_treeid[mj_name2id(model.get(), mjOBJ_BODY, "B2_1")];
// Tendon 1: Not associated with any tree
EXPECT_EQ(model->tendon_treenum[t_static_id], 0);
@@ -461,7 +463,7 @@ TEST_F(SetConstTest, BodySameframeRecomputed) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B1">
<body name="B1" simple="false">
<joint type="slide"/>
<geom size=".1"/>
</body>
@@ -570,7 +572,7 @@ TEST_F(SetConstTest, SameframeKinematicsCorrect) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B1" pos="1 0 0">
<body name="B1" pos="1 0 0" simple="false">
<joint type="slide" axis="1 0 0"/>
<geom name="G1" size=".1"/>
<site name="S1"/>
@@ -604,5 +606,34 @@ TEST_F(SetConstTest, SameframeKinematicsCorrect) {
EXPECT_NEAR(d->geom_xpos[3*g+2], 0.3, MjTol(1e-10, 1e-6));
}
TEST_F(SetConstTest, SimpleBodyLostSameframeError) {
constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B1">
<joint type="slide"/>
<geom size=".1"/>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
MjModelPtr m = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(m.get(), NotNull()) << error;
MjDataPtr d(mj_makeData(m.get()));
int b = mj_name2id(m.get(), mjOBJ_BODY, "B1");
// confirm body is compiled as simple
EXPECT_GT(m->body_simple[b], 0);
// perturb body_ipos, breaking sameframe; calling mj_setConst should fail
m->body_ipos[3*b+0] = 1.0;
std::string err = MjuErrorMessageFrom(mj_setConst)(m.get(), d.get());
EXPECT_THAT(err, HasSubstr("body 1 is compiled as simple but "
"sameframe no longer holds"));
}
} // namespace
} // namespace mujoco