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Fix mass/inertia checking for moving bodies with nested children.

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Previously, we only checked immediate children of moving bodies.

PiperOrigin-RevId: 726999705
Change-Id: I133a557daf86223b8751c6d46e25809781e168a1
This commit is contained in:
Tom Power
2025-02-14 11:25:31 -08:00
committed by Copybara-Service
parent 37d7591ce0
commit 78a4d2f389
3 changed files with 128 additions and 27 deletions
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test/user/user_model_test.cc
+76
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@@ -140,6 +140,82 @@ TEST_F(UserCModelTest, ActuatorSparsity) {
mj_deleteModel(m);
}
TEST_F(UserCModelTest, NestedZeroMassBodiesOK) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<freejoint/>
<body>
<body>
<body>
<geom size="1"/>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
TEST_F(UserCModelTest, NestedZeroMassBodiesWithJointOK) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<freejoint/>
<body>
<body>
<body>
<joint/>
<geom size="1"/>
</body>
<body>
<geom size="1"/>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
TEST_F(UserCModelTest, NestedZeroMassBodiesFail) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1"/>
<body>
<freejoint/>
<body>
<body>
</body>
</body>
</body>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error,
HasSubstr(
"mass and inertia of moving bodies must be larger than mjMINVAL"));
mj_deleteModel(model);
}
// ------------- test automatic inference of nuser_xxx -------------------------