From 5c5449bf82b84a723d7466c716b6b5c5289368c9 Mon Sep 17 00:00:00 2001
From: Alessio Quaglino <quaglino@google.com>
Date: Sun, 31 Jul 2022 04:31:46 -0700
Subject: [PATCH] Compute moment of inertia for concave and boundary meshes.
 Resolve #338.

- Mesh inertias can now be computed exactly for well-formed (no holes) non-convex meshes.
- To activate this feature, set `<compiler exactmeshinertia="true">` (defaults to `false`). This default may change in the future.
- Added `<geom shellinertia="true/false">` (defaults to `false`). When true, geom inertia is computed assuming all the mass is concentrated on the surface, and `density` is interpreted as surface density (mass/area). Currently only mesh geoms are supported.

PiperOrigin-RevId: 464368395
Change-Id: I17afd99b9b221c9d24ae951f6e63d5c61ff89820
---
 doc/XMLreference.rst                   |    27 +-
 doc/changelog.rst                      |    13 +-
 src/user/user_mesh.cc                  |   505 +-
 src/user/user_model.cc                 |     1 +
 src/user/user_model.h                  |     1 +
 src/user/user_objects.cc               |    23 +-
 src/user/user_objects.h                |    30 +-
 src/xml/xml_base.h                     |     1 +
 src/xml/xml_native_reader.cc           |    29 +-
 src/xml/xml_native_writer.cc           |     9 +-
 src/xml/xml_util.h                     |     2 +-
 test/user/testdata/cube_cup.obj        |    83 +
 test/user/testdata/cube_cup_hi.obj     | 22323 +++++++++++++++++++++++
 test/user/testdata/cube_cup_quad.obj   | 14885 +++++++++++++++
 test/user/testdata/inertia_concave.xml |    27 +
 test/user/testdata/inertia_convex.xml  |    23 +
 test/user/testdata/inertia_shell.xml   |    11 +
 test/user/user_mesh_test.cc            |    67 +
 test/xml/xml_native_reader_test.cc     |    19 +
 19 files changed, 37807 insertions(+), 272 deletions(-)
 create mode 100644 test/user/testdata/cube_cup.obj
 create mode 100644 test/user/testdata/cube_cup_hi.obj
 create mode 100644 test/user/testdata/cube_cup_quad.obj
 create mode 100644 test/user/testdata/inertia_concave.xml
 create mode 100644 test/user/testdata/inertia_convex.xml
 create mode 100644 test/user/testdata/inertia_shell.xml

diff --git a/doc/XMLreference.rst b/doc/XMLreference.rst
index f9ebc81e..ff7f3890 100644
--- a/doc/XMLreference.rst
+++ b/doc/XMLreference.rst
@@ -12,10 +12,9 @@ This chapter is the reference manual for the MJCF modeling language used in MuJo
 XML schema
 ~~~~~~~~~~
 
-The table below summarizes the XML elements and their attributes in MJCF. It is generated automatically with the
-function :ref:`mj_printSchema` which prints out the custom schema used by the parser to validate the model file.
-Note that all information in MJCF is entered through elements and attributes. Text content in elements is not used;
-if present, the parser ignores it. The symbols in the second column of the table have the following meaning:
+The table below summarizes the XML elements and their attributes in MJCF. Note that all information in MJCF is entered
+through elements and attributes. Text content in elements is not used; if present, the parser ignores it. The symbols
+in the second column of the table have the following meaning:
 
 ====== ===================================================
 **!**  required element, can appear only once
@@ -46,7 +45,7 @@ if present, the parser ignores it. The symbols in the second column of the table
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`convexhull`        | :at:`usethread`         | :at:`fusestatic`        | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`inertiafromgeom`   | :at:`inertiagrouprange` |                         | |
+|                          |    |    | :at:`inertiafromgeom`   | :at:`inertiagrouprange` | :at:`exactmeshinertia`  | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_2|:el:`lengthrange`    | ?  | .. table::                                                                         |
@@ -274,6 +273,8 @@ if present, the parser ignores it. The symbols in the second column of the table
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`user`              | :at:`fluidshape`        | :at:`fluidcoef`         | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
+|                          |    |    | :at:`shellinertia`      |                         |                         | |
+|                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_2|:el:`site`           | ?  | .. table::                                                                         |
 |                          |    |    :class: mjcf-attributes                                                         |
@@ -633,7 +634,7 @@ if present, the parser ignores it. The symbols in the second column of the table
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 |                          |    |    | :at:`fitscale`          | :at:`rgba`              | :at:`user`              | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
-|                          |    |    | :at:`fluidshape`        | :at:`fluidcoef`         |                         | |
+|                          |    |    | :at:`fluidshape`        | :at:`fluidcoef`         | :at:`shellinertia`      | |
 |                          |    |    +-------------------------+-------------------------+-------------------------+ |
 +--------------------------+----+------------------------------------------------------------------------------------+
 | |_2|:el:`site`           | \* | .. table::                                                                         |
@@ -1612,6 +1613,9 @@ any effect. The settings here are global and apply to the entire model.
    particular, a number of publicly available URDF models have seemingly arbitrary inertias which are too large compared
    to the mass. This results in equivalent inertia boxes which extend far beyond the geometric boundaries of the model.
    Note that the built-in OpenGL visualizer can render equivalent inertia boxes.
+:at:`exactmeshinertia`: :at-val:`[false, true], "false"`
+   If this attribute is set to false, computes mesh inertia with the legacy algorithm, which is exact only for convex
+   meshes. If set to true, it is exact for any closed mesh geometry.
 :at:`inertiagrouprange`: :at-val:`int(2), "0 5"`
    This attribute specifies the range of geom groups that are used to infer body masses and inertias (when such
    inference is enabled). The group attribute of :ref:`geom <geom>` is an integer. If this integer falls in the range
@@ -2722,7 +2726,7 @@ MSH file format
 Poorly designed meshes can display rendering artifacts. In particular, the shadow mapping mechanism relies on having
 some distance between front and back-facing triangle faces. If the faces are repeated, with opposite normals as
 determined by the vertex order in each triangle, this causes shadow aliasing. The solution is to remove the repeated
-faces (which can be done in MeshLab) or use a better designed mesh.
+faces (which can be done in MeshLab) or use a better designed mesh. Flipped faces are checked by MuJoCo for meshes specified as OBJ or XML and an error message is returned.
 
 The size of the mesh is determined by the 3D coordinates of the vertex data in the mesh file, multiplied by the
 components of the :at:`scale` attribute below. Scaling is applied separately for each coordinate axis. Note that
@@ -2767,12 +2771,7 @@ practice this is rarely needed.
 
 The inertial computation mentioned above is part of an algorithm used not only to center and align the mesh, but also
 to infer the mass and inertia of the body to which it is attached. This is done by computing the centroid of the
-triangle faces, connecting each face with the centroid to form a triangular pyramid, computing the mass and inertia of
-all pyramids and accumulating them. This algorithm comes from Astronomy where it is used to estimate inertial
-properties of asteroids. It is exact for convex meshes but is not always exact for non-convex meshes; indeed no
-algorithm can be exact when the notion of interior is ill-defined. Thus for non-convex models designed in CAD software
-(which usually knows what the interior is) it is better to ask that software to compute the inertial properties of the
-body and enter them in the MJCF file explicitly via the :ref:`inertial <inertial>` element.
+triangle faces, connecting each face with the centroid to form a triangular pyramid, computing the mass and signed inertia of all pyramids (considered solid or hollow if :at:`shellinertia` is true) and accumulating them. The sign ensures that pyramids on the outside of the surfaces are subtracted, as it can occur with concave geometries. This algorithm can be found in section 1.3.8 of Computational Geometry in C (Second Edition) by Joseph O'Rourke.
 
 The full list of processing steps applied by the compiler to each mesh is as follows:
 
@@ -3390,6 +3389,8 @@ helps clarify the role of bodies and geoms in MuJoCo.
    Material density used to compute the geom mass and inertia. The computation is based on the geom shape and the
    assumption of uniform density. The internal default of 1000 is the density of water in SI units. This attribute is
    used only when the mass attribute above is unspecified.
+:at:`shellinertia` :at-val:`[false, true], "false"`
+   If true, the geom's inertia is computed assuming that all the mass is concentrated on the boundary. In this case :at:`density` is interpreted as surface density rather than volumetric density.
 :at:`solmix`: :at-val:`real, "1"`
    This attribute specifies the weight used for averaging of contact parameters, and interacts with the priority
    attribute. See :ref:`CContact`.
diff --git a/doc/changelog.rst b/doc/changelog.rst
index 21b5bc4c..7bca7bb7 100644
--- a/doc/changelog.rst
+++ b/doc/changelog.rst
@@ -5,7 +5,18 @@ Changelog
 Upcoming version (not yet released)
 -----------------------------------
 
-- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree. 
+General
+^^^^^^^
+- Added :ref:`mj_jacSubtreeCom` for computing the translational Jacobian of the center-of-mass of a subtree.
+- Added moment of inertia computation for concave meshes. This is a breaking change, to get back to the previous
+  behavior set the compiler flag :at:`exactmeshinertia` to false.
+- Added parameter :at:`shellinertia` in :at:`geom` for treating a mesh as a boundary mesh (shell) for inertia
+  computations. This is currently supported only for meshes.
+- Raise error if the orientation of mesh faces is not consistent, which causes the inertia computations to be
+  inaccurate. If this occurs, open the mesh in MeshLab or Blender and recalculate the faces.
+
+Bug fixes
+^^^^^^^^^
 
 Version 2.2.1 (July 18, 2022)
 -----------------------------
diff --git a/src/user/user_mesh.cc b/src/user/user_mesh.cc
index eedc237b..69923aa8 100644
--- a/src/user/user_mesh.cc
+++ b/src/user/user_mesh.cc
@@ -65,9 +65,12 @@ mjCMesh::mjCMesh(mjCModel* _model, mjCDef* _def) {
   useredge.clear();
 
   // clear internal variables
-  mjuu_setvec(pos, 0, 0, 0);
-  mjuu_setvec(quat, 1, 0, 0, 0);
-  mjuu_setvec(boxsz, 0, 0, 0);
+  mjuu_setvec(pos_surface, 0, 0, 0);
+  mjuu_setvec(pos_volume, 0, 0, 0);
+  mjuu_setvec(quat_surface, 1, 0, 0, 0);
+  mjuu_setvec(quat_volume, 1, 0, 0, 0);
+  mjuu_setvec(boxsz_surface, 0, 0, 0);
+  mjuu_setvec(boxsz_volume, 0, 0, 0);
   mjuu_setvec(aabb, 0, 0, 0);
   nvert = 0;
   nface = 0;
@@ -251,20 +254,23 @@ void mjCMesh::Compile(const mjVFS* vfs) {
 
 
 // get position
-void mjCMesh::GetPos(double* _pos) {
-  _pos[0] = pos[0];
-  _pos[1] = pos[1];
-  _pos[2] = pos[2];
+double* mjCMesh::GetPosPtr(mjtMeshType type) {
+  if (type==mjSHELL_MESH) {
+    return pos_surface;
+  } else {
+    return pos_volume;
+  }
 }
 
 
 
 // get orientation
-void mjCMesh::GetQuat(double* _quat) {
-  _quat[0] = quat[0];
-  _quat[1] = quat[1];
-  _quat[2] = quat[2];
-  _quat[3] = quat[3];
+double* mjCMesh::GetQuatPtr(mjtMeshType type) {
+  if (type==mjSHELL_MESH) {
+    return quat_surface;
+  } else {
+    return quat_volume;
+  }
 }
 
 
@@ -275,7 +281,8 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
 
   // use inertial box
   if (!model->fitaabb) {
-    // compute depending on type
+    // get inertia box type (shell or volume)
+    double* boxsz = GetInertiaBoxPtr(geom->typeinertia);
     switch (geom->type) {
     case mjGEOM_SPHERE:
       geom->size[0] = (boxsz[0] + boxsz[1] + boxsz[2])/3;
@@ -303,7 +310,7 @@ void mjCMesh::FitGeom(mjCGeom* geom, double* meshpos) {
     }
 
     // copy mesh pos into meshpos
-    mjuu_copyvec(meshpos, pos, 3);
+    mjuu_copyvec(meshpos, GetPosPtr(geom->typeinertia), 3);
   }
 
   // use AABB
@@ -860,252 +867,284 @@ static double _areaNrmCen(double* normal, double* center,
 
 
 // apply transformations
-void mjCMesh::Process(void) {
-  double CoM[3] = {0, 0, 0};
-  double facecen[3] = {0, 0, 0};
-  double area = 0;
-  double inert[6] = {0, 0, 0, 0, 0, 0};
-  double volume;
+void mjCMesh::Process() {
+  for ( const auto type : { mjtMeshType::mjVOLUME_MESH, mjtMeshType::mjSHELL_MESH } ) {
+    double CoM[3] = {0, 0, 0};
+    double facecen[3] = {0, 0, 0};
+    double area = 0;
+    double inert[6] = {0, 0, 0, 0, 0, 0};
 
-  int i, j;
-  double nrm[3];
-  double cen[3];
+    int i, j;
+    double nrm[3];
+    double cen[3];
 
-  // translate
-  if (refpos[0]!=0 || refpos[1]!=0 || refpos[2]!=0) {
-    // prepare translation
-    float rp[3] = {(float)refpos[0], (float)refpos[1], (float)refpos[2]};
+    if (type==mjVOLUME_MESH) {
+      // translate
+      if (refpos[0]!=0 || refpos[1]!=0 || refpos[2]!=0) {
+        // prepare translation
+        float rp[3] = {(float)refpos[0], (float)refpos[1], (float)refpos[2]};
 
-    // process vertices
-    for (i=0; i<nvert; i++) {
-      // positions
-      vert[3*i] -= rp[0];
-      vert[3*i+1] -= rp[1];
-      vert[3*i+2] -= rp[2];
+        // process vertices
+        for (i=0; i<nvert; i++) {
+          // positions
+          vert[3*i] -= rp[0];
+          vert[3*i+1] -= rp[1];
+          vert[3*i+2] -= rp[2];
 
-      // normals not affected by translation
-    }
-  }
+          // normals not affected by translation
+        }
+      }
 
-  // rotate
-  if (refquat[0]!=1 || refquat[1]!=0 || refquat[2]!=0 || refquat[3]!=0) {
-    // prepare rotation
-    mjtNum quat[4] = {refquat[0], refquat[1], refquat[2], refquat[3]};
-    mjtNum mat[9];
-    mju_normalize4(quat);
-    mju_quat2Mat(mat, quat);
+      // rotate
+      if (refquat[0]!=1 || refquat[1]!=0 || refquat[2]!=0 || refquat[3]!=0) {
+        // prepare rotation
+        mjtNum quat[4] = {refquat[0], refquat[1], refquat[2], refquat[3]};
+        mjtNum mat[9];
+        mju_normalize4(quat);
+        mju_quat2Mat(mat, quat);
 
-    // process vertices
-    for (i=0; i<nvert; i++) {
-      // positions
-      mjtNum p1[3], p0[3] = {vert[3*i], vert[3*i+1], vert[3*i+2]};
-      mju_rotVecMatT(p1, p0, mat);
-      vert[3*i] = (float) p1[0];
-      vert[3*i+1] = (float) p1[1];
-      vert[3*i+2] = (float) p1[2];
+        // process vertices
+        for (i=0; i<nvert; i++) {
+          // positions
+          mjtNum p1[3], p0[3] = {vert[3*i], vert[3*i+1], vert[3*i+2]};
+          mju_rotVecMatT(p1, p0, mat);
+          vert[3*i] = (float) p1[0];
+          vert[3*i+1] = (float) p1[1];
+          vert[3*i+2] = (float) p1[2];
 
-      // nromals
-      mjtNum n1[3], n0[3] = {normal[3*i], normal[3*i+1], normal[3*i+2]};
-      mju_rotVecMatT(n1, n0, mat);
-      normal[3*i] = (float) n1[0];
-      normal[3*i+1] = (float) n1[1];
-      normal[3*i+2] = (float) n1[2];
-    }
-  }
+          // nromals
+          mjtNum n1[3], n0[3] = {normal[3*i], normal[3*i+1], normal[3*i+2]};
+          mju_rotVecMatT(n1, n0, mat);
+          normal[3*i] = (float) n1[0];
+          normal[3*i+1] = (float) n1[1];
+          normal[3*i+2] = (float) n1[2];
+        }
+      }
 
-  // scale
-  if (scale[0]!=1 || scale[1]!=1 || scale[2]!=1) {
-    for (i=0; i<nvert; i++) {
-      // positions
-      vert[3*i] *= scale[0];
-      vert[3*i+1] *= scale[1];
-      vert[3*i+2] *= scale[2];
+      // scale
+      if (scale[0]!=1 || scale[1]!=1 || scale[2]!=1) {
+        for (i=0; i<nvert; i++) {
+          // positions
+          vert[3*i] *= scale[0];
+          vert[3*i+1] *= scale[1];
+          vert[3*i+2] *= scale[2];
 
-      // normals
-      normal[3*i] *= scale[0];
-      normal[3*i+1] *= scale[1];
-      normal[3*i+2] *= scale[2];
-    }
-  }
+          // normals
+          normal[3*i] *= scale[0];
+          normal[3*i+1] *= scale[1];
+          normal[3*i+2] *= scale[2];
+        }
+      }
 
-  // normalize normals
-  for (i=0; i<nvert; i++) {
-    // compute length
-    float len = normal[3*i]*normal[3*i] + normal[3*i+1]*normal[3*i+1] + normal[3*i+2]*normal[3*i+2];
+      // normalize normals
+      for (i=0; i<nvert; i++) {
+        // compute length
+        float len = normal[3*i]*normal[3*i] + normal[3*i+1]*normal[3*i+1] + normal[3*i+2]*normal[3*i+2];
 
-    // rescale
-    if (len>mjMINVAL) {
-      float scl = 1/sqrtf(len);
-      normal[3*i] *= scl;
-      normal[3*i+1] *= scl;
-      normal[3*i+2] *= scl;
-    } else {
-      normal[3*i] = 0;
-      normal[3*i+1] = 0;
-      normal[3*i+2] = 1;
-    }
-  }
+        // rescale
+        if (len>mjMINVAL) {
+          float scl = 1/sqrtf(len);
+          normal[3*i] *= scl;
+          normal[3*i+1] *= scl;
+          normal[3*i+2] *= scl;
+        } else {
+          normal[3*i] = 0;
+          normal[3*i+1] = 0;
+          normal[3*i+2] = 1;
+        }
+      }
 
-  // find centroid of faces
-  for (i=0; i<nface; i++) {
-    // check vertex indices
-    for (j=0; j<3; j++) {
-      if (face[3*i+j]<0 || face[3*i+j]>=nvert) {
-        throw mjCError(this, "vertex index out of range in %s (index = %d)", name.c_str(), i);
+      // find centroid of faces
+      for (i=0; i<nface; i++) {
+        // check vertex indices
+        for (j=0; j<3; j++) {
+          if (face[3*i+j]<0 || face[3*i+j]>=nvert) {
+            throw mjCError(this, "vertex index out of range in %s (index = %d)", name.c_str(), i);
+          }
+        }
+
+        // get area and center
+        double a = _areaNrmCen(nrm, cen, vert+3*face[3*i], vert+3*face[3*i+1], vert+3*face[3*i+2]);
+
+        // accumulate
+        for (j=0; j<3; j++) {
+          facecen[j] += a*cen[j];
+        }
+        area += a;
+      }
+
+      // require positive area
+      if (area < mjMINVAL) {
+        throw mjCError(this, "mesh surface area is too small: %s", name.c_str());
+      }
+
+      // finalize centroid of faces
+      for (j=0; j<3; j++) {
+        facecen[j] /= area;
       }
     }
 
-    // get area and center
-    double a = _areaNrmCen(nrm, cen, vert+3*face[3*i], vert+3*face[3*i+1], vert+3*face[3*i+2]);
+    // compute CoM and volume from pyramid volumes
+    GetVolumeRef(type) = 0;
+    for (i=0; i<nface; i++) {
+      // get area, normal and center
+      double a = _areaNrmCen(nrm, cen, vert+3*face[3*i], vert+3*face[3*i+1], vert+3*face[3*i+2]);
 
-    // accumulate
-    for (j=0; j<3; j++) {
-      facecen[j] += a*cen[j];
-    }
-    area += a;
-  }
+      // compute and add volume
+      const double vec[3] = {cen[0]-facecen[0], cen[1]-facecen[1], cen[2]-facecen[2]};
+      double vol = type==mjSHELL_MESH ? a : mjuu_dot3(vec, nrm) * a / 3;
+      GetVolumeRef(type) += vol;
 
-  // require positive area
-  if (area < mjMINVAL) {
-    throw mjCError(this, "mesh surface area is too small: %s", name.c_str());
-  }
-
-  // finalize centroid of faces
-  for (j=0; j<3; j++) {
-    facecen[j] /= area;
-  }
-
-  // compute CoM and volume from pyramid volumes
-  volume = 0;
-  for (i=0; i<nface; i++) {
-    // get area, normal and center
-    double a = _areaNrmCen(nrm, cen, vert+3*face[3*i], vert+3*face[3*i+1], vert+3*face[3*i+2]);
-
-    // compute and add volume
-    const double vec[3] = {cen[0]-facecen[0], cen[1]-facecen[1], cen[2]-facecen[2]};
-    double vol = fabs(mjuu_dot3(vec, nrm)) * a / 3;
-    volume += vol;
-
-    // add pyramid com
-    for (j=0; j<3; j++) {
-      CoM[j] += vol*(cen[j]*3.0/4.0 + facecen[j]/4.0);
-    }
-  }
-
-  // require positive volume
-  if (volume < mjMINVAL) {
-    throw mjCError(this, "mesh volume is too small: %s", name.c_str());
-  }
-
-  // finalize CoM, save as mesh center
-  for (j=0; j<3; j++) {
-    CoM[j] /= volume;
-  }
-  mjuu_copyvec(pos, CoM, 3);
-
-  // re-center mesh at CoM
-  for (i=0; i<nvert; i++) {
-    for (j=0; j<3; j++) {
-      vert[3*i+j] -= CoM[j];
-    }
-  }
-
-  // accumulate products of inertia, recompute volume
-  const int k[6][2] = {{0, 0}, {1, 1}, {2, 2}, {0, 1}, {0, 2}, {1, 2}};
-  double P[6] = {0, 0, 0, 0, 0, 0};
-  volume = 0;
-  for (i=0; i<nface; i++) {
-    float* D = vert+3*face[3*i];
-    float* E = vert+3*face[3*i+1];
-    float* F = vert+3*face[3*i+2];
-
-    // get area, normal and center; update volume
-    double a = _areaNrmCen(nrm, cen, D, E, F);
-    double vol = fabs(mjuu_dot3(cen, nrm)) * a / 3;
-    volume += vol;
-
-    // apply formula, accumulate
-    for (j=0; j<6; j++) {
-      P[j] += def->geom.density*vol/20 * (
-                2*(D[k[j][0]] * D[k[j][1]] +
-                   E[k[j][0]] * E[k[j][1]] +
-                   F[k[j][0]] * F[k[j][1]]) +
-                D[k[j][0]] * E[k[j][1]]  +  D[k[j][1]] * E[k[j][0]] +
-                D[k[j][0]] * F[k[j][1]]  +  D[k[j][1]] * F[k[j][0]] +
-                E[k[j][0]] * F[k[j][1]]  +  E[k[j][1]] * F[k[j][0]]);
-    }
-  }
-
-  // convert from products of inertia to moments of inertia
-  inert[0] = P[1] + P[2];
-  inert[1] = P[0] + P[2];
-  inert[2] = P[0] + P[1];
-  inert[3] = -P[3];
-  inert[4] = -P[4];
-  inert[5] = -P[5];
-
-  // get quaternion and diagonal inertia
-  mjtNum eigval[3], eigvec[9], quattmp[4];
-  mjtNum full[9] = {
-    inert[0], inert[3], inert[4],
-    inert[3], inert[1], inert[5],
-    inert[4], inert[5], inert[2]
-  };
-  mju_eig3(eigval, eigvec, quattmp, full);
-
-  // check eigval - SHOULD NOT OCCUR
-  if (eigval[2]<=0) {
-    throw mjCError(this, "eigenvalue of mesh inertia must be positive: %s", name.c_str());
-  }
-  if (eigval[0] + eigval[1] < eigval[2] ||
-      eigval[0] + eigval[2] < eigval[1] ||
-      eigval[1] + eigval[2] < eigval[0]) {
-    throw mjCError(this,
-                   "eigenvalues of mesh inertia violate A + B >= C condition: %s", name.c_str());
-  }
-
-  // compute sizes of equivalent inertia box
-  double mass = volume * def->geom.density;
-  boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
-  boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;
-  boxsz[2] = sqrt(6*(eigval[0]+eigval[1]-eigval[2])/mass)/2;
-
-  // copy quat
-  for (j=0; j<4; j++) {
-    quat[j] = quattmp[j];
-  }
-
-  // rotate vertices and normals into axis-aligned frame
-  double neg[4] = {quattmp[0], -quattmp[1], -quattmp[2], -quattmp[3]};
-  double mat[9];
-  mjuu_quat2mat(mat, neg);
-  for (i=0; i<nvert; i++) {
-    // vertices
-    const double vec[3] = {vert[3*i], vert[3*i+1], vert[3*i+2]};
-    double res[3];
-    mjuu_mulvecmat(res, vec, mat);
-    for (j=0; j<3; j++) {
-      vert[3*i+j] = (float) res[j];
+      // add pyramid com
+      for (j=0; j<3; j++) {
+        CoM[j] += vol*(cen[j]*3.0/4.0 + facecen[j]/4.0);
+      }
     }
 
-    // normals
-    const double nrm[3] = {normal[3*i], normal[3*i+1], normal[3*i+2]};
-    mjuu_mulvecmat(res, nrm, mat);
-    for (j=0; j<3; j++) {
-      normal[3*i+j] = (float) res[j];
+    // require positive volume
+    if (GetVolumeRef(type) < mjMINVAL) {
+      throw mjCError(this, "mesh volume is too small: %s", name.c_str());
     }
-  }
 
-  // compute axis-aligned bounding box
-  for (i=0; i<nvert; i++) {
-    float* v = vert+3*i;
+    // finalize CoM, save as mesh center
     for (j=0; j<3; j++) {
-      aabb[j] = mjMAX(aabb[j], fabs(v[j]));
+      CoM[j] /= GetVolumeRef(type);
+    }
+    mjuu_copyvec(GetPosPtr(type), CoM, 3);
+
+    // re-center mesh at CoM
+    if (type==mjVOLUME_MESH) {
+      for (i=0; i<nvert; i++) {
+        for (j=0; j<3; j++) {
+          vert[3*i+j] -= CoM[j];
+        }
+      }
+    }
+
+    // accumulate products of inertia, recompute volume
+    const int k[6][2] = {{0, 0}, {1, 1}, {2, 2}, {0, 1}, {0, 2}, {1, 2}};
+    double P[6] = {0, 0, 0, 0, 0, 0};
+    GetVolumeRef(type) = 0;
+    for (i=0; i<nface; i++) {
+      float* D = vert+3*face[3*i];
+      float* E = vert+3*face[3*i+1];
+      float* F = vert+3*face[3*i+2];
+
+      // get area, normal and center; update volume
+      double a = _areaNrmCen(nrm, cen, D, E, F);
+      double vol = type==mjSHELL_MESH ? a : mjuu_dot3(cen, nrm) * a / 3;
+
+      // if legacy computation requested, then always positive
+      if (!model->exactmeshinertia) {
+        vol = fabs(vol);
+      }
+
+      // apply formula, accumulate
+      GetVolumeRef(type) += vol;
+      for (j=0; j<6; j++) {
+        P[j] += def->geom.density*vol /
+                  (type==mjSHELL_MESH ? 12 : 20) * (
+                  2*(D[k[j][0]] * D[k[j][1]] +
+                    E[k[j][0]] * E[k[j][1]] +
+                    F[k[j][0]] * F[k[j][1]]) +
+                  D[k[j][0]] * E[k[j][1]]  +  D[k[j][1]] * E[k[j][0]] +
+                  D[k[j][0]] * F[k[j][1]]  +  D[k[j][1]] * F[k[j][0]] +
+                  E[k[j][0]] * F[k[j][1]]  +  E[k[j][1]] * F[k[j][0]]);
+      }
+    }
+
+    // convert from products of inertia to moments of inertia
+    inert[0] = P[1] + P[2];
+    inert[1] = P[0] + P[2];
+    inert[2] = P[0] + P[1];
+    inert[3] = -P[3];
+    inert[4] = -P[4];
+    inert[5] = -P[5];
+
+    // get quaternion and diagonal inertia
+    mjtNum eigval[3], eigvec[9], quattmp[4];
+    mjtNum full[9] = {
+      inert[0], inert[3], inert[4],
+      inert[3], inert[1], inert[5],
+      inert[4], inert[5], inert[2]
+    };
+    mju_eig3(eigval, eigvec, quattmp, full);
+
+    // check eigval - SHOULD NOT OCCUR
+    if (eigval[2]<=0) {
+      throw mjCError(this, "eigenvalue of mesh inertia must be positive: %s", name.c_str());
+    }
+    if (eigval[0] + eigval[1] < eigval[2] ||
+        eigval[0] + eigval[2] < eigval[1] ||
+        eigval[1] + eigval[2] < eigval[0]) {
+      throw mjCError(this,
+                    "eigenvalues of mesh inertia violate A + B >= C condition: %s", name.c_str());
+    }
+
+    // compute sizes of equivalent inertia box
+    double mass = GetVolumeRef(type) * def->geom.density;
+    double* boxsz = GetInertiaBoxPtr(type);
+    boxsz[0] = sqrt(6*(eigval[1]+eigval[2]-eigval[0])/mass)/2;
+    boxsz[1] = sqrt(6*(eigval[0]+eigval[2]-eigval[1])/mass)/2;
+    boxsz[2] = sqrt(6*(eigval[0]+eigval[1]-eigval[2])/mass)/2;
+
+    // copy quat
+    for (j=0; j<4; j++) {
+      GetQuatPtr(type)[j] = quattmp[j];
+    }
+
+    // rotate vertices and normals into axis-aligned frame
+    if (type==mjVOLUME_MESH) {
+      double neg[4] = {quattmp[0], -quattmp[1], -quattmp[2], -quattmp[3]};
+      double mat[9];
+      mjuu_quat2mat(mat, neg);
+      for (i=0; i<nvert; i++) {
+        // vertices
+        const double vec[3] = {vert[3*i], vert[3*i+1], vert[3*i+2]};
+        double res[3];
+        mjuu_mulvecmat(res, vec, mat);
+        for (j=0; j<3; j++) {
+          vert[3*i+j] = (float) res[j];
+        }
+
+        // normals
+        const double nrm[3] = {normal[3*i], normal[3*i+1], normal[3*i+2]};
+        mjuu_mulvecmat(res, nrm, mat);
+        for (j=0; j<3; j++) {
+          normal[3*i+j] = (float) res[j];
+        }
+      }
+
+      // compute axis-aligned bounding box
+      for (i=0; i<nvert; i++) {
+        float* v = vert+3*i;
+        for (j=0; j<3; j++) {
+          aabb[j] = mjMAX(aabb[j], fabs(v[j]));
+        }
+      }
     }
   }
 }
 
 
+// compute inertia
+double* mjCMesh::GetInertiaBoxPtr(mjtMeshType type) {
+  if (type==mjSHELL_MESH) {
+    return boxsz_surface;
+  } else {
+    return boxsz_volume;
+  }
+}
+
+
+double& mjCMesh::GetVolumeRef(mjtMeshType type) {
+  if (type) {
+    return surface;
+  } else {
+    return volume;
+  }
+}
+
 
 // make graph describing convex hull
 void mjCMesh::MakeGraph(void) {
diff --git a/src/user/user_model.cc b/src/user/user_model.cc
index 73b928cb..5b79885b 100644
--- a/src/user/user_model.cc
+++ b/src/user/user_model.cc
@@ -99,6 +99,7 @@ mjCModel::mjCModel() {
   inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
   inertiagrouprange[0] = 0;
   inertiagrouprange[1] = mjNGROUP-1;
+  exactmeshinertia = false;
   mj_defaultLROpt(&LRopt);
 
   //------------------------ statistics override
diff --git a/src/user/user_model.h b/src/user/user_model.h
index 0ae132ca..c1ff5625 100644
--- a/src/user/user_model.h
+++ b/src/user/user_model.h
@@ -124,6 +124,7 @@ class mjCModel {
   bool fusestatic;                // fuse static bodies with parent
   int inertiafromgeom;            // use geom inertias (mjtInertiaFromGeom)
   int inertiagrouprange[2];       // range of geom groups used to compute inertia
+  bool exactmeshinertia;          // if false, use old formula
   mjLROpt LRopt;                  // options for lengthrange computation
 
   //------------------------ statistics override (if defined)
diff --git a/src/user/user_objects.cc b/src/user/user_objects.cc
index 9738fd75..d5e1b200 100644
--- a/src/user/user_objects.cc
+++ b/src/user/user_objects.cc
@@ -967,6 +967,7 @@ mjCGeom::mjCGeom(mjCModel* _model, mjCDef* _def) {
   rgba[0] = rgba[1] = rgba[2] = 0.5f;
   rgba[3] = 1.0f;
   userdata.clear();
+  typeinertia = mjVOLUME_MESH;
 
   // clear internal variables
   mjuu_setvec(quat, 1, 0, 0, 0);
@@ -1003,7 +1004,11 @@ double mjCGeom::GetVolume(void) {
     }
 
     mjCMesh* pmesh = model->meshes[meshid];
-    return pmesh->boxsz[0]*pmesh->boxsz[1]*pmesh->boxsz[2]*8;
+    if (model->exactmeshinertia) {
+      return pmesh->GetVolumeRef(typeinertia);
+    } else {
+      return pmesh->boxsz_volume[0]*pmesh->boxsz_volume[1]*pmesh->boxsz_volume[2]*8;
+    }
   }
 
   // compute from geom shape
@@ -1045,13 +1050,17 @@ void mjCGeom::SetInertia(void) {
     }
 
     mjCMesh* pmesh = model->meshes[meshid];
-    inertia[0] = mass*(pmesh->boxsz[1]*pmesh->boxsz[1] + pmesh->boxsz[2]*pmesh->boxsz[2]) / 3;
-    inertia[1] = mass*(pmesh->boxsz[0]*pmesh->boxsz[0] + pmesh->boxsz[2]*pmesh->boxsz[2]) / 3;
-    inertia[2] = mass*(pmesh->boxsz[0]*pmesh->boxsz[0] + pmesh->boxsz[1]*pmesh->boxsz[1]) / 3;
+    double* boxsz = pmesh->GetInertiaBoxPtr(typeinertia);
+    inertia[0] = mass*(boxsz[1]*boxsz[1] + boxsz[2]*boxsz[2]) / 3;
+    inertia[1] = mass*(boxsz[0]*boxsz[0] + boxsz[2]*boxsz[2]) / 3;
+    inertia[2] = mass*(boxsz[0]*boxsz[0] + boxsz[1]*boxsz[1]) / 3;
   }
 
   // compute from geom shape
   else {
+    if (typeinertia)
+      throw mjCError(this, "typeinertia currently only available for meshes'%s' (id = %d)",
+                     name.c_str(), id);
     switch (type) {
     case mjGEOM_SPHERE:
       inertia[0] = inertia[1] = inertia[2] = 2*mass*size[0]*size[0]/5;
@@ -1068,7 +1077,7 @@ void mjCGeom::SetInertia(void) {
       // add two hemispheres, displace along third axis
       double sphere_inertia = 2*sphere_mass*radius*radius/5;
       inertia[0] += sphere_inertia + sphere_mass*height*(3*radius + 2*height)/8;
-      inertia[1] += sphere_inertia + sphere_mass*height*(3*radius + 2*height)/8;;
+      inertia[1] += sphere_inertia + sphere_mass*height*(3*radius + 2*height)/8;
       inertia[2] += sphere_inertia;
       return;
     }
@@ -1354,11 +1363,11 @@ void mjCGeom::Compile(void) {
       mesh.clear();
       meshid = -1;
     } else {
-      mjuu_copyvec(meshpos, pmesh->pos, 3);
+      mjuu_copyvec(meshpos, pmesh->GetPosPtr(typeinertia), 3);
     }
 
     // apply geom pos/quat as offset
-    mjuu_frameaccum(pos, quat, meshpos, pmesh->quat);
+    mjuu_frameaccum(pos, quat, meshpos, pmesh->GetQuatPtr(typeinertia));
   }
 
   // check size parameters
diff --git a/src/user/user_objects.h b/src/user/user_objects.h
index 32206c6d..ff49c6b9 100644
--- a/src/user/user_objects.h
+++ b/src/user/user_objects.h
@@ -76,6 +76,13 @@ typedef enum _mjtMark {
 } mjtMark;
 
 
+// type of mesh
+typedef enum _mjtMeshType {
+  mjVOLUME_MESH,
+  mjSHELL_MESH,
+} mjtMeshType;
+
+
 // error information
 class mjCError {
  public:
@@ -298,6 +305,7 @@ class mjCGeom : public mjCBase {
   std::string material;           // name of material used for rendering
   std::vector<double> userdata;   // user data
   float rgba[4];                  // rgba when material is omitted
+  mjtMeshType typeinertia;        // selects between surface and volume inertia
 
   // variables set by user and used during compilation
   double _mass;                   // used to compute density
@@ -443,9 +451,11 @@ class mjCMesh: public mjCBase {
   friend class mjXWriter;
 
  public:
-  void GetPos(double* pos);                   // get position
-  void GetQuat(double* quat);                 // get orientation
-  void FitGeom(mjCGeom* geom, double* meshpos); // approximate mesh with simple geom
+  double* GetPosPtr(mjtMeshType type);              // get position
+  double* GetQuatPtr(mjtMeshType type);             // get orientation
+  double* GetInertiaBoxPtr(mjtMeshType type);       // get inertia box
+  double& GetVolumeRef(mjtMeshType type);           // get volume
+  void FitGeom(mjCGeom* geom, double* meshpos);   // approximate mesh with simple geom
 
   std::string file;                   // mesh file
   double refpos[3];                   // reference position (translate)
@@ -469,14 +479,20 @@ class mjCMesh: public mjCBase {
   void MakeGraph(void);                       // make graph of convex hull
   void CopyGraph(void);                       // copy graph into face data
   void MakeNormal(void);                      // compute vertex normals
-  void Process(void);                         // apply transformations
+  void Process();                             // apply transformations
   void RemoveRepeated(void);                  // remove repeated vertices
+  void ComputeInertia(mjtMeshType type);     // compute inertia
 
   // mesh properties computed by Compile
-  double pos[3];                      // CoM position
-  double quat[4];                     // inertia orientation
-  double boxsz[3];                    // half-sizes of equivalent inertia box
+  double pos_volume[3];               // CoM position
+  double pos_surface[3];              // CoM position
+  double quat_volume[4];              // inertia orientation
+  double quat_surface[4];             // inertia orientation
+  double boxsz_volume[3];             // half-sizes of equivalent inertia box (volume)
+  double boxsz_surface[3];            // half-sizes of equivalent inertia box (surface)
   double aabb[3];                     // half-sizes of axis-aligned bounding box
+  double volume;                      // volume of the mesh
+  double surface;                     // surface of the mesh
 
   // mesh data to be copied into mjModel
   int nvert;                          // number of vertices
diff --git a/src/xml/xml_base.h b/src/xml/xml_base.h
index e15b562e..4e971567 100644
--- a/src/xml/xml_base.h
+++ b/src/xml/xml_base.h
@@ -68,6 +68,7 @@ extern const mjMap gain_map[];
 extern const mjMap bias_map[];
 extern const mjMap stage_map[];
 extern const mjMap datatype_map[];
+extern const mjMap meshtype_map[];
 
 
 //---------------------------------- Base XML class ------------------------------------------------
diff --git a/src/xml/xml_native_reader.cc b/src/xml/xml_native_reader.cc
index 3d80e31d..a6f9b4c1 100644
--- a/src/xml/xml_native_reader.cc
+++ b/src/xml/xml_native_reader.cc
@@ -46,10 +46,10 @@ static const int nMJCF = 163;
 static const char* MJCF[nMJCF][mjXATTRNUM] = {
 {"mujoco", "!", "1", "model"},
 {"<"},
-    {"compiler", "*", "17", "boundmass", "boundinertia", "settotalmass", "balanceinertia",
+    {"compiler", "*", "18", "boundmass", "boundinertia", "settotalmass", "balanceinertia",
         "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
         "meshdir", "texturedir", "discardvisual", "convexhull", "usethread",
-        "fusestatic", "inertiafromgeom", "inertiagrouprange"},
+        "fusestatic", "inertiafromgeom", "inertiagrouprange", "exactmeshinertia"},
     {"<"},
         {"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
             "accel", "maxforce", "timeconst", "timestep",
@@ -103,9 +103,9 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
             "limited", "solreflimit", "solimplimit",
             "solreffriction", "solimpfriction", "stiffness", "range", "margin",
             "ref", "springref", "armature", "damping", "frictionloss", "user"},
-        {"geom", "?", "30", "type", "pos", "quat", "contype", "conaffinity", "condim",
+        {"geom", "?", "31", "type", "pos", "quat", "contype", "conaffinity", "condim",
             "group", "priority", "size", "material", "friction", "mass", "density",
-            "solmix", "solref", "solimp",
+            "shellinertia", "solmix", "solref", "solimp",
             "margin", "gap", "fromto", "axisangle", "xyaxes", "zaxis", "euler",
             "hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
         {"site", "?", "13", "type", "group", "pos", "quat", "material",
@@ -160,7 +160,7 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
     {"asset", "*", "0"},
     {"<"},
         {"texture", "*", "21", "name", "type", "file", "gridsize", "gridlayout",
-            "fileright", "fileleft", "fileup", "filedown","filefront", "fileback",
+            "fileright", "fileleft", "fileup", "filedown", "filefront", "fileback",
             "builtin", "rgb1", "rgb2", "mark", "markrgb", "random", "width", "height",
             "hflip", "vflip"},
         {"hfield", "*", "5", "name", "file", "nrow", "ncol", "size"},
@@ -186,9 +186,9 @@ static const char* MJCF[nMJCF][mjXATTRNUM] = {
             "stiffness", "range", "margin", "ref", "springref", "armature", "damping",
             "frictionloss", "user"},
         {"freejoint", "*", "2", "name", "group"},
-        {"geom", "*", "32", "name", "class", "type", "contype", "conaffinity", "condim",
+        {"geom", "*", "33", "name", "class", "type", "contype", "conaffinity", "condim",
             "group", "priority", "size", "material", "friction", "mass", "density",
-            "solmix", "solref", "solimp",
+            "shellinertia", "solmix", "solref", "solimp",
             "margin", "gap", "fromto", "pos", "quat", "axisangle", "xyaxes", "zaxis", "euler",
             "hfield", "mesh", "fitscale", "rgba", "fluidshape", "fluidcoef", "user"},
         {"site", "*", "15", "name", "class", "type", "group", "pos", "quat",
@@ -608,6 +608,13 @@ const mjMap tkind_map[2] = {
 };
 
 
+// mesh type
+const mjMap  meshtype_map[2] = {
+    {"false", mjVOLUME_MESH},
+    {"true",  mjSHELL_MESH},
+  };
+
+
 
 //---------------------------------- class mjXReader implementation --------------------------------
 
@@ -793,6 +800,9 @@ void mjXReader::Compiler(XMLElement* section, mjCModel* mod) {
   }
   MapValue(section, "inertiafromgeom", &mod->inertiafromgeom, TFAuto_map, 3);
   ReadAttr(section, "inertiagrouprange", 2, mod->inertiagrouprange, text);
+  if (MapValue(section, "exactmeshinertia", &n, bool_map, 2)){
+    mod->exactmeshinertia = (n==1);
+  }
 
   // lengthrange subelement
   XMLElement* elem = FindSubElem(section, "lengthrange");
@@ -1149,6 +1159,11 @@ void mjXReader::OneGeom(XMLElement* elem, mjCGeom* pgeom) {
   ReadAttr(elem, "quat", 4, pgeom->quat, text);
   ReadAlternative(elem, pgeom->alt);
 
+  // compute inertia using either solid or shell geometry
+  if (MapValue(elem, "shellinertia", &n, meshtype_map, 2)) {
+    pgeom->typeinertia = (mjtMeshType)n;
+  }
+
   GetXMLPos(elem, pgeom);
 }
 
diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 0f51d342..9b642059 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -253,13 +253,14 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
       mjCMesh* pmesh = model->meshes[pgeom->meshid];
 
       // write pos/quat if there is a difference
-      if (!SameVector(pgeom->locpos, pmesh->pos, 3) ||
-          !SameVector(pgeom->locquat, pmesh->quat, 4)) {
+      if (!SameVector(pgeom->locpos, pmesh->GetPosPtr(pgeom->typeinertia), 3) ||
+          !SameVector(pgeom->locquat, pmesh->GetQuatPtr(pgeom->typeinertia), 4)) {
         // recover geom pos/quat before mesh frame transformation
         double p[3], q[4];
         mjuu_copyvec(p, pgeom->locpos, 3);
         mjuu_copyvec(q, pgeom->locquat, 4);
-        mjuu_frameaccuminv(p, q, pmesh->pos, pmesh->quat);
+        mjuu_frameaccuminv(p, q, pmesh->GetPosPtr(pgeom->typeinertia),
+                           pmesh->GetQuatPtr(pgeom->typeinertia));
 
         // write
         WriteAttr(elem, "pos", 3, p, unitq+1);
@@ -292,6 +293,7 @@ void mjXWriter::OneGeom(XMLElement* elem, mjCGeom* pgeom, mjCDef* def) {
   WriteAttr(elem, "gap", 1, &pgeom->gap, &def->geom.gap);
   WriteAttrKey(elem, "fluidshape", fluid_map, 2, pgeom->fluid_switch, def->geom.fluid_switch);
   WriteAttr(elem, "fluidcoef", 5, pgeom->fluid_coefs, def->geom.fluid_coefs);
+  WriteAttrKey(elem, "shellinertia", meshtype_map, 2, pgeom->typeinertia, def->geom.typeinertia);
   if (mjuu_defined(pgeom->_mass)) {
     double mass = pgeom->GetVolume() * def->geom.density;
     WriteAttr(elem, "mass", 1, &pgeom->mass, &mass);
@@ -657,6 +659,7 @@ void mjXWriter::Compiler(XMLElement* root) {
   if (!model->usethread) {
     WriteAttrTxt(section, "usethread", "false");
   }
+  WriteAttrTxt(section, "exactmeshinertia", FindValue(bool_map, 2, model->exactmeshinertia));
 }
 
 
diff --git a/src/xml/xml_util.h b/src/xml/xml_util.h
index 5ba32aa3..302eea43 100644
--- a/src/xml/xml_util.h
+++ b/src/xml/xml_util.h
@@ -46,7 +46,7 @@ class mjXError {
 
 
 // max number of attribute fields in schema (plus 3)
-#define mjXATTRNUM 35
+#define mjXATTRNUM 36
 
 
 // Custom XML file validation
diff --git a/test/user/testdata/cube_cup.obj b/test/user/testdata/cube_cup.obj
new file mode 100644
index 00000000..db2af54a
--- /dev/null
+++ b/test/user/testdata/cube_cup.obj
@@ -0,0 +1,83 @@
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+v -0.050000 0.050000 0.000000
+v -0.050000 -0.050000 0.000000
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+v 0.050000 0.050000 0.000000
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+v -0.040000 -0.040000 0.010000
+v 0.040000 -0.040000 0.010000
+v 0.040000 0.040000 0.010000
+vn -1.0000 0.0000 0.0000
+vn 0.0000 -1.0000 0.0000
+vn 1.0000 0.0000 0.0000
+vn 0.0000 1.0000 0.0000
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 1.0000
+s 1
+f 1//1 2//1 3//1
+f 3//1 4//1 1//1
+f 5//2 6//2 7//2
+f 7//2 8//2 5//2
+f 9//3 10//3 11//3
+f 11//3 12//3 9//3
+f 13//4 14//4 15//4
+f 15//4 16//4 13//4
+f 17//5 18//5 19//5
+f 19//5 20//5 17//5
+f 21//6 22//6 23//6
+f 22//6 24//6 25//6
+f 24//6 26//6 27//6
+f 26//6 21//6 28//6
+f 25//6 23//6 22//6
+f 28//6 27//6 26//6
+f 27//6 25//6 24//6
+f 23//6 28//6 21//6
+f 29//4 30//4 31//4
+f 31//4 32//4 29//4
+f 33//1 34//1 35//1
+f 35//1 36//1 33//1
+f 37//2 38//2 39//2
+f 39//2 40//2 37//2
+f 41//3 42//3 43//3
+f 43//3 44//3 41//3
+f 45//6 46//6 47//6
+f 47//6 48//6 45//6
\ No newline at end of file
diff --git a/test/user/testdata/cube_cup_hi.obj b/test/user/testdata/cube_cup_hi.obj
new file mode 100644
index 00000000..e64f8359
--- /dev/null
+++ b/test/user/testdata/cube_cup_hi.obj
@@ -0,0 +1,22323 @@
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+f 6945//4 6946//4 5448//4 5447//4
+f 6949//4 6950//4 5452//4 5451//4
+f 6946//4 6949//4 5451//4 5448//4
+f 5372//1 5383//1 6881//1 6870//1
+f 6934//4 6945//4 5447//4 5436//4
+f 5491//1 5492//1 6994//1 6993//1
+f 5495//1 5496//1 6998//1 6997//1
+f 5492//1 5495//1 6997//1 6994//1
+f 7049//4 7050//4 5556//4 5555//4
+f 7053//4 7054//4 5560//4 5559//4
+f 7050//4 7053//4 5559//4 5556//4
+f 5505//1 5506//1 7010//1 7009//1
+f 5506//1 5508//1 7013//1 7010//1
+f 7073//4 7074//4 5578//4 5577//4
+f 5568//6 7067//6 7065//6 5566//6
+f 7074//4 7077//4 5580//4 5578//4
+f 5580//6 7077//6 7067//6 5568//6
+f 5496//1 5505//1 7009//1 6998//1
+f 7054//4 7073//4 5577//4 5560//4
+f 5566//6 7065//6 7013//6 5508//6
+f 5388//1 5491//1 6993//1 6886//1
+f 6950//4 7049//4 5555//4 5452//4
+f 194//1 1033//1 1035//1 196//1
+f 202//2 204//2 1043//2 1041//2
+f 188//1 1029//1 1033//1 194//1
+f 188//2 202//2 1041//2 1029//2
+f 226//1 1069//1 1071//1 228//1
+f 234//1 1077//1 1079//1 236//1
+f 228//1 1071//1 1077//1 234//1
+f 258//2 260//2 1103//2 1101//2
+f 266//2 268//2 1111//2 1109//2
+f 260//2 266//2 1109//2 1103//2
+f 306//4 1135//4 1133//4 304//4
+f 1133//5 1137//5 308//5 304//5
+f 316//4 1147//4 1145//4 314//4
+f 1153//5 1155//5 324//5 322//5
+f 314//4 1145//4 1135//4 306//4
+f 1137//5 1153//5 322//5 308//5
+f 196//1 1035//1 1069//1 226//1
+f 204//2 258//2 1101//2 1043//2
+f 506//1 1349//1 1351//1 508//1
+f 514//1 1357//1 1359//1 516//1
+f 508//1 1351//1 1357//1 514//1
+f 538//1 1381//1 1383//1 540//1
+f 546//1 1389//1 1391//1 548//1
+f 540//1 1383//1 1389//1 546//1
+f 572//4 1415//4 1413//4 570//4
+f 580//4 1423//4 1421//4 578//4
+f 578//4 1421//4 1415//4 572//4
+f 604//4 1447//4 1445//4 602//4
+f 612//4 1455//4 1453//4 610//4
+f 610//4 1453//4 1447//4 604//4
+f 516//1 1359//1 1381//1 538//1
+f 602//4 1445//4 1423//4 580//4
+f 794//2 796//2 1607//2 1605//2
+f 802//2 804//2 1615//2 1613//2
+f 796//2 802//2 1613//2 1607//2
+f 1637//5 1639//5 828//5 826//5
+f 1645//5 1647//5 836//5 834//5
+f 1639//5 1645//5 834//5 828//5
+f 858//2 860//2 1671//2 1669//2
+f 866//2 868//2 1679//2 1677//2
+f 860//2 866//2 1677//2 1671//2
+f 1701//5 1703//5 892//5 890//5
+f 1709//5 1711//5 900//5 898//5
+f 1703//5 1709//5 898//5 892//5
+f 804//2 858//2 1669//2 1615//2
+f 1647//5 1701//5 890//5 836//5
+f 236//1 1079//1 1349//1 506//1
+f 570//4 1413//4 1147//4 316//4
+f 268//2 794//2 1605//2 1111//2
+f 1155//5 1637//5 826//5 324//5
+f 2042//1 2889//1 2891//1 2044//1
+f 2050//1 2897//1 2899//1 2052//1
+f 2044//1 2891//1 2897//1 2050//1
+f 2074//1 2921//1 2923//1 2076//1
+f 2082//1 2929//1 2931//1 2084//1
+f 2076//1 2923//1 2929//1 2082//1
+f 2108//4 2955//4 2953//4 2106//4
+f 2116//4 2963//4 2961//4 2114//4
+f 2114//4 2961//4 2955//4 2108//4
+f 2140//4 2987//4 2985//4 2138//4
+f 2148//4 2995//4 2993//4 2146//4
+f 2146//4 2993//4 2987//4 2140//4
+f 2052//1 2899//1 2921//1 2074//1
+f 2138//4 2985//4 2963//4 2116//4
+f 2334//1 3145//1 3147//1 2336//1
+f 2342//1 3153//1 3155//1 2344//1
+f 2336//1 3147//1 3153//1 2342//1
+f 2370//1 3177//1 3179//1 2372//1
+f 3189//5 3191//5 2384//5 2382//5
+f 2372//1 3179//1 3185//1 2376//1
+f 3185//5 3189//5 2382//5 2376//5
+f 2420//4 3219//4 3217//4 2418//4
+f 2430//4 3227//4 3225//4 2428//4
+f 2430//2 2432//2 3229//2 3227//2
+f 2438//2 2440//2 3239//2 3237//2
+f 2428//4 3225//4 3219//4 2420//4
+f 2432//2 2438//2 3237//2 3229//2
+f 3273//5 3275//5 2464//5 2462//5
+f 3281//5 3283//5 2472//5 2470//5
+f 3275//5 3281//5 2470//5 2464//5
+f 2344//1 3155//1 3177//1 2370//1
+f 3191//5 3273//5 2462//5 2384//5
+f 2782//2 2784//2 3467//2 3465//2
+f 2790//2 2792//2 3475//2 3473//2
+f 2784//2 2790//2 3473//2 3467//2
+f 3497//5 3499//5 2816//5 2814//5
+f 3505//5 3507//5 2824//5 2822//5
+f 3499//5 3505//5 2822//5 2816//5
+f 2846//2 2848//2 3531//2 3529//2
+f 2854//2 2856//2 3539//2 3537//2
+f 2848//2 2854//2 3537//2 3531//2
+f 3561//5 3563//5 2880//5 2878//5
+f 3569//5 3571//5 2888//5 2886//5
+f 3563//5 3569//5 2886//5 2880//5
+f 2792//2 2846//2 3529//2 3475//2
+f 3507//5 3561//5 2878//5 2824//5
+f 2084//1 2931//1 3145//1 2334//1
+f 2418//4 3217//4 2995//4 2148//4
+f 2440//2 2782//2 3465//2 3239//2
+f 3283//5 3497//5 2814//5 2472//5
+f 3902//2 3904//2 4751//2 4749//2
+f 3910//2 3912//2 4759//2 4757//2
+f 3904//2 3910//2 4757//2 4751//2
+f 4781//5 4783//5 3936//5 3934//5
+f 4789//5 4791//5 3944//5 3942//5
+f 4783//5 4789//5 3942//5 3936//5
+f 3966//2 3968//2 4815//2 4813//2
+f 3974//2 3976//2 4823//2 4821//2
+f 3968//2 3974//2 4821//2 4815//2
+f 4845//5 4847//5 4000//5 3998//5
+f 4853//5 4855//5 4008//5 4006//5
+f 4847//5 4853//5 4006//5 4000//5
+f 3912//2 3966//2 4813//2 4759//2
+f 4791//5 4845//5 3998//5 3944//5
+f 4322//2 4324//2 5007//2 5005//2
+f 4330//2 4332//2 5015//2 5013//2
+f 4324//2 4330//2 5013//2 5007//2
+f 5037//5 5039//5 4368//5 4366//5
+f 4378//1 5047//1 5049//1 4380//1
+f 5045//5 5047//5 4378//5 4376//5
+f 4386//1 5057//1 5059//1 4388//1
+f 4380//1 5049//1 5057//1 4386//1
+f 5039//5 5045//5 4376//5 4368//5
+f 4414//2 4416//2 5095//2 5093//2
+f 4428//4 5107//4 5105//4 4426//4
+f 4426//4 5105//4 5101//4 4420//4
+f 4416//2 4420//2 5101//2 5095//2
+f 4452//4 5135//4 5133//4 4450//4
+f 4460//4 5143//4 5141//4 4458//4
+f 4458//4 5141//4 5135//4 4452//4
+f 4450//4 5133//4 5107//4 4428//4
+f 4332//2 4414//2 5093//2 5015//2
+f 4642//1 5325//1 5327//1 4644//1
+f 4650//1 5333//1 5335//1 4652//1
+f 4644//1 5327//1 5333//1 4650//1
+f 4674//1 5357//1 5359//1 4676//1
+f 4682//1 5365//1 5367//1 4684//1
+f 4676//1 5359//1 5365//1 4682//1
+f 4708//4 5391//4 5389//4 4706//4
+f 4716//4 5399//4 5397//4 4714//4
+f 4714//4 5397//4 5391//4 4708//4
+f 4740//4 5423//4 5421//4 4738//4
+f 4748//4 5431//4 5429//4 4746//4
+f 4746//4 5429//4 5423//4 4740//4
+f 4652//1 5335//1 5357//1 4674//1
+f 4738//4 5421//4 5399//4 4716//4
+f 4388//1 5059//1 5325//1 4642//1
+f 4706//4 5389//4 5143//4 4460//4
+f 3976//2 4322//2 5005//2 4823//2
+f 4855//5 5037//5 4366//5 4008//5
+f 5890//2 5892//2 6611//2 6609//2
+f 5898//2 5900//2 6619//2 6617//2
+f 5892//2 5898//2 6617//2 6611//2
+f 6641//5 6643//5 5924//5 5922//5
+f 6649//5 6651//5 5932//5 5930//5
+f 6643//5 6649//5 5930//5 5924//5
+f 5954//2 5956//2 6675//2 6673//2
+f 5962//2 5964//2 6683//2 6681//2
+f 5956//2 5962//2 6681//2 6675//2
+f 6705//5 6707//5 5988//5 5986//5
+f 6713//5 6715//5 5996//5 5994//5
+f 6707//5 6713//5 5994//5 5988//5
+f 5900//2 5954//2 6673//2 6619//2
+f 6651//5 6705//5 5986//5 5932//5
+f 6178//1 6865//1 6867//1 6180//1
+f 6186//1 6873//1 6875//1 6188//1
+f 6180//1 6867//1 6873//1 6186//1
+f 6210//1 6897//1 6899//1 6212//1
+f 6218//1 6905//1 6907//1 6220//1
+f 6212//1 6899//1 6905//1 6218//1
+f 6244//4 6931//4 6929//4 6242//4
+f 6252//4 6939//4 6937//4 6250//4
+f 6250//4 6937//4 6931//4 6244//4
+f 6276//4 6963//4 6961//4 6274//4
+f 6284//4 6971//4 6969//4 6282//4
+f 6282//4 6969//4 6963//4 6276//4
+f 6188//1 6875//1 6897//1 6210//1
+f 6274//4 6961//4 6939//4 6252//4
+f 6482//2 6484//2 7123//2 7121//2
+f 6490//1 7129//1 7131//1 6492//1
+f 6502//1 7139//1 7141//1 6504//1
+f 6500//2 6504//2 7141//2 7137//2
+f 6492//1 7131//1 7139//1 6502//1
+f 6484//2 6500//2 7137//2 7123//2
+f 7177//5 7179//5 6528//5 6526//5
+f 7185//5 7187//5 6536//5 6534//5
+f 7179//5 7185//5 6534//5 6528//5
+f 6560//4 7211//4 7209//4 6558//4
+f 6568//4 7219//4 7217//4 6566//4
+f 6566//4 7217//4 7211//4 6560//4
+f 7241//5 7243//5 6596//5 6594//5
+f 6604//4 7251//4 7249//4 6602//4
+f 6608//4 7257//4 7251//4 6604//4
+f 7243//5 7257//5 6608//5 6596//5
+f 6602//4 7249//4 7219//4 6568//4
+f 7187//5 7241//5 6594//5 6536//5
+f 6220//1 6907//1 7129//1 6490//1
+f 6558//4 7209//4 6971//4 6284//4
+f 5964//2 6482//2 7121//2 6683//2
+f 6715//5 7177//5 6526//5 5996//5
+f 548//1 1391//1 2889//1 2042//1
+f 2106//4 2953//4 1455//4 612//4
+f 4684//1 5367//1 6865//1 6178//1
+f 6242//4 6929//4 5431//4 4748//4
+f 868//2 3902//2 4749//2 1679//2
+f 1711//5 4781//5 3934//5 900//5
+f 2856//2 5890//2 6609//2 3539//2
+f 3571//5 6641//5 5922//5 2888//5
+f 1012//3 2547//3 5581//3 4046//3
+f 4062//6 5597//6 2563//6 1028//6
\ No newline at end of file
diff --git a/test/user/testdata/inertia_concave.xml b/test/user/testdata/inertia_concave.xml
new file mode 100644
index 00000000..821057fc
--- /dev/null
+++ b/test/user/testdata/inertia_concave.xml
@@ -0,0 +1,27 @@
+<mujoco>
+  <compiler exactmeshinertia="true"/>
+  <asset>
+    <mesh file="cube_cup.obj" scale="10 10 10"/>
+    <mesh file="cube_cup_quad.obj" scale="10 10 10"/>
+    <mesh file="cube_cup_hi.obj" scale="10 10 10"/>
+  </asset>
+  <worldbody>
+    <light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
+    <body pos="-1.5 0 1">
+      <geom type="mesh" mesh="cube_cup" density="1"/>
+    </body>
+    <body pos="0 0 1">
+      <geom type="mesh" mesh="cube_cup_quad" density="1"/>
+    </body>
+    <body pos="1.5 0 1">
+      <geom type="mesh" mesh="cube_cup_hi" density="1"/>
+    </body>
+    <body pos="3 0 1">
+      <geom type="box" pos="0 0 0.05" size=".5 .5 .05" density="1"/>
+      <geom type="box" pos="-.45 0 .55" size=".05 .5 .45" density="1"/>
+      <geom type="box" pos=" .45 0 .55" size=".05 .5 .45" density="1"/>
+      <geom type="box" pos="0 -.45 .55" size=".4 .05 .45" density="1"/>
+      <geom type="box" pos="0 .45 .55" size=".4 .05 .45" density="1"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/user/testdata/inertia_convex.xml b/test/user/testdata/inertia_convex.xml
new file mode 100644
index 00000000..ce9df614
--- /dev/null
+++ b/test/user/testdata/inertia_convex.xml
@@ -0,0 +1,23 @@
+<mujoco>
+  <asset>
+    <mesh file="cube.obj"/>
+    <mesh name="inline_cube"
+        vertex="
+          -.5 -.5 -.5
+          .5 -.5 -.5
+          .5  .5 -.5
+          -.5  .5 -.5
+          -.5 -.5  .5
+          .5 -.5  .5
+          .5  .5  .5
+          -.5  .5  .5"/>
+  </asset>
+  <worldbody>
+    <body>
+      <geom type="mesh" mesh="cube" density="1"/>
+    </body>
+    <body>
+      <geom type="mesh" mesh="inline_cube" density="1"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/user/testdata/inertia_shell.xml b/test/user/testdata/inertia_shell.xml
new file mode 100644
index 00000000..2b26a2cb
--- /dev/null
+++ b/test/user/testdata/inertia_shell.xml
@@ -0,0 +1,11 @@
+<mujoco>
+  <compiler exactmeshinertia="true"/>
+  <asset>
+    <mesh file="cube.obj" name="hollow_cube"/>
+  </asset>
+  <worldbody>
+    <body>
+      <geom type="mesh" mesh="hollow_cube" density="1" shellinertia="true"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/test/user/user_mesh_test.cc b/test/user/user_mesh_test.cc
index f7924032..84e79847 100644
--- a/test/user/user_mesh_test.cc
+++ b/test/user/user_mesh_test.cc
@@ -37,6 +37,12 @@ static const char* const kCubePath =
     "user/testdata/cube.xml";
 static const char* const kTorusPath =
     "user/testdata/torus.xml";
+static const char* const kConvexInertiaPath =
+    "user/testdata/inertia_convex.xml";
+static const char* const kConcaveInertiaPath =
+    "user/testdata/inertia_concave.xml";
+static const char* const kShellInertiaPath =
+    "user/testdata/inertia_shell.xml";
 static const char* const kTorusQuadsPath =
     "user/testdata/torus_quads.xml";
 static const char* const kTexturedTorusPath =
@@ -134,6 +140,8 @@ TEST_F(MujocoTest, TinyMeshLoads) {
   mj_deleteModel(model);
 }
 
+// ------------- test inertia -------------------------------------------------
+
 TEST_F(MujocoTest, SmallInertiaLoads) {
   static constexpr char xml[] = R"(
   <mujoco>
@@ -202,5 +210,64 @@ TEST_F(MujocoTest, FlippedFaceFails) {
   EXPECT_THAT(error.data(), HasSubstr("faces have inconsistent orientation"));
 }
 
+const mjtNum max_abs_err = std::numeric_limits<float>::epsilon();
+
+TEST_F(MujocoTest, ExactConcaveInertia) {
+  const std::string xml_path = GetTestDataFilePath(kConcaveInertiaPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  // analytic computation of 1x1x1 cube with a .8x.8x.9 hole
+  // see https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+  mjtNum m_hole = .9 * .8 * .8;
+  mjtNum m_cube = 1.;
+  mjtNum m_concave_cube = m_cube - m_hole;
+  mjtNum I_cube = m_cube/6.;
+  // due to the asymmetric hole, the com position has changed
+  // so we need to use https://en.wikipedia.org/wiki/Parallel_axis_theorem
+  mjtNum d_cube = .5 - model->body_ipos[5];
+  mjtNum d_hole = .55 - model->body_ipos[5];
+  mjtNum I1 = I_cube - m_hole*(.8*.8 + .8*.8)/12;
+  mjtNum I2 = I_cube - m_hole*(.8*.8 + .9*.9)/12 + m_cube*d_cube*d_cube - m_hole*d_hole*d_hole;
+  EXPECT_LE(fabs(model->body_mass[1] - m_concave_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_mass[2] - m_concave_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_mass[3] - m_concave_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_mass[4] - m_concave_cube), max_abs_err);
+  for (int i=3; i<15; i+=3) {
+    EXPECT_LE(fabs(model->body_inertia[i] - I1), max_abs_err);
+    EXPECT_LE(fabs(model->body_inertia[i+1] - I2), max_abs_err);
+    EXPECT_LE(fabs(model->body_inertia[i+2] - I2), max_abs_err);
+  }
+  mj_deleteModel(model);
+}
+
+TEST_F(MujocoTest, ExactConvexInertia) {
+  const std::string xml_path = GetTestDataFilePath(kConvexInertiaPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  // https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+  mjtNum m_solid_cube = 1.;
+  mjtNum I_solid_cube = 1./6. * m_solid_cube;
+  EXPECT_LE(fabs(model->body_mass[1] - m_solid_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_mass[2] - m_solid_cube), max_abs_err);
+  for (int i=3; i<9; i++) {
+    EXPECT_LE(fabs(model->body_inertia[i] - I_solid_cube), max_abs_err);
+  }
+  mj_deleteModel(model);
+}
+
+TEST_F(MujocoTest, ExactShellInertia) {
+  const std::string xml_path = GetTestDataFilePath(kShellInertiaPath);
+  std::array<char, 1024> error;
+  mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
+  // see https://en.wikipedia.org/wiki/List_of_moments_of_inertia
+  mjtNum m_hollow_cube = 6.;
+  mjtNum I_hollow_cube = 5./18. * m_hollow_cube;
+  EXPECT_LE(fabs(model->body_mass[1] - m_hollow_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_inertia[3] - I_hollow_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_inertia[4] - I_hollow_cube), max_abs_err);
+  EXPECT_LE(fabs(model->body_inertia[5] - I_hollow_cube), max_abs_err);
+  mj_deleteModel(model);
+}
+
 }  // namespace
 }  // namespace mujoco
diff --git a/test/xml/xml_native_reader_test.cc b/test/xml/xml_native_reader_test.cc
index b9f0090e..6e770194 100644
--- a/test/xml/xml_native_reader_test.cc
+++ b/test/xml/xml_native_reader_test.cc
@@ -294,6 +294,25 @@ TEST_F(UserDataTest, InvalidInertialOrientation) {
   EXPECT_THAT(error.data(), HasSubstr("multiple orientation specifiers for the same field"));
 }
 
+TEST_F(UserDataTest, ReadShellParameter) {
+  static constexpr char xml[] = R"(
+  <mujoco>
+    <asset>
+      <mesh name="example_mesh"
+        vertex="0 0 0  1 0 0  0 1 0  0 0 1"
+        face="0 2 1  2 0 3" />
+    </asset>
+    <worldbody>
+      <geom type="mesh" mesh="example_mesh" shellinertia="true"/>
+    </worldbody>
+  </mujoco>
+  )";
+  std::array<char, 1024> error;
+  mjModel* model = LoadModelFromString(xml, error.data(), error.size());
+  ASSERT_THAT(model, NotNull());
+  mj_deleteModel(model);
+}
+
 TEST_F(UserDataTest, ReadsDamper) {
   static constexpr char xml[] = R"(
   <mujoco>