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Allow malformed meshes for visualization purposes. Throw error only if the mesh is required for inertia computation.

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PiperOrigin-RevId: 466421062
Change-Id: I947dbc107e481bd8c328b1a6430ab2e88bc82fd6
This commit is contained in:
Alessio Quaglino
2022-08-09 11:40:49 -07:00
committed by Copybara-Service
parent aee73a9023
commit 95d5db3f81
8 changed files with 230 additions and 33 deletions
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test/user/testdata/malformed_face.xml
Vendored
+3 -1
View File
@@ -3,6 +3,8 @@
<mesh file="malformed_face.obj"/>
</asset>
<worldbody>
<geom type="mesh" mesh="malformed_face"/>
<body>
<geom type="mesh" mesh="malformed_face"/>
</body>
</worldbody>
</mujoco>
test/user/user_mesh_test.cc
+150 -3
View File
@@ -188,11 +188,32 @@ TEST_F(MujocoTest, MalformedFaceFails) {
const std::string xml_path = GetTestDataFilePath(kMalformedFaceOBJPath);
std::array<char, 1024> error;
mjModel* model = mj_loadXML(xml_path.c_str(), 0, error.data(), error.size());
ASSERT_THAT(model, testing::IsNull());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("faces have inconsistent orientation"));
}
TEST_F(MujocoTest, FlippedFaceFails) {
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="2 0 3 0 1 3 1 2 3 0 1 2" />
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("faces have inconsistent orientation"));
}
TEST_F(MujocoTest, FlippedFaceAllowedWorld) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
@@ -206,10 +227,136 @@ TEST_F(MujocoTest, FlippedFaceFails) {
</mujoco>
)";
std::array<char, 1024> error;
LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(error.data(), HasSubstr("faces have inconsistent orientation"));
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull());
mj_deleteModel(model);
}
TEST_F(MujocoTest, FlippedFaceAllowedNoMass) {
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="2 0 3 0 1 3 1 2 3 0 1 2" />
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh" mass="0"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull());
mj_deleteModel(model);
}
TEST_F(MujocoTest, FlippedFaceAllowedInertial) {
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="2 0 3 0 1 3 1 2 3 0 1 2" />
</asset>
<worldbody>
<body>
<inertial pos="0 0 0" mass="1"/>
<geom type="mesh" mesh="example_mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull());
mj_deleteModel(model);
}
TEST_F(MujocoTest, AreaTooSmall) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1e-8 0 0 0 1e-8 0 0 0 1e-8"
face="2 0 3 0 1 3 1 2 3 0 2 1" />
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("mesh surface area is too small"));
}
TEST_F(MujocoTest, AreaTooSmallAllowedWorld) {
static constexpr char xml[] = R"(
<mujoco>
<asset>
<mesh name="example_mesh"
vertex="0 0 0 1e-8 0 0 0 1e-8 0 0 0 1e-8"
face="2 0 3 0 1 3 1 2 3 0 2 1" />
</asset>
<worldbody>
<geom type="mesh" mesh="example_mesh"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull());
mj_deleteModel(model);
}
TEST_F(MujocoTest, VolumeTooSmall) {
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" />
</asset>
<worldbody>
<body>
<geom type="mesh" mesh="example_mesh"/>
</body>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::IsNull());
EXPECT_THAT(error.data(), HasSubstr("mesh volume is too small"));
}
TEST_F(MujocoTest, VolumeTooSmallAllowedWorld) {
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" />
</asset>
<worldbody>
<geom type="mesh" mesh="example_mesh"/>
</worldbody>
</mujoco>
)";
std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(model, testing::NotNull());
mj_deleteModel(model);
}
// ------------- test concave and shell inertia --------------------------------
const mjtNum max_abs_err = std::numeric_limits<float>::epsilon();
TEST_F(MujocoTest, ExactConcaveInertia) {