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Changes to inertia inference from meshes.

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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
This commit is contained in:
Tom Power
2025-02-12 07:42:15 -08:00
committed by Copybara-Service
parent e39a5df06a
commit 89253d957d
21 changed files with 438 additions and 299 deletions
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test/user/user_api_test.cc
+30
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@@ -444,6 +444,36 @@ TEST_F(MujocoTest, RecompileFails) {
mj_deleteSpec(spec);
}
TEST_F(PluginTest, ModifyShellInertiaFails) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1 0 0 0 1 0 1 1 1e-6"
face="0 1 2 2 1 3" inertia="shell"/>
</asset>
<worldbody>
</worldbody>
</mujoco>
)";
std::array<char, 1000> err;
mjSpec* spec = mj_parseXMLString(xml, 0, err.data(), err.size());
ASSERT_THAT(spec, NotNull()) << err.data();
// add a geom to spec
mjsGeom* geom = mjs_addGeom(mjs_findBody(spec, "world"), nullptr);
geom->type = mjGEOM_MESH;
mjs_setString(geom->meshname, "example_mesh");
geom->typeinertia = mjINERTIA_SHELL;
mjModel* model = mj_compile(spec, nullptr);
EXPECT_THAT(model, IsNull());
EXPECT_THAT(mjs_getError(spec),
HasSubstr("inertia should be specified in the mesh asset"));
mj_deleteSpec(spec);
mj_deleteModel(model);
}
// ------------------- test recompilation multiple files -----------------------
TEST_F(PluginTest, RecompileCompare) {
mjtNum tol = 0;