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Ignore geoms with tiny mass in inertiafromgeom computation. Fixes #2754

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PiperOrigin-RevId: 795475978
Change-Id: I02b5db9e2ac7ec556cb0a0ec6dbe4214ba9128d7
This commit is contained in:
Yuval Tassa
2025-08-15 07:56:14 -07:00
committed by Copybara-Service
parent 977f94e9df
commit b566ef2883
2 changed files with 65 additions and 53 deletions
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src/user/user_objects.cc
+3 -2
View File
@@ -1902,11 +1902,12 @@ void mjCBody::InertiaFromGeom(void) {
double toti[6] = {0, 0, 0, 0, 0, 0}; double toti[6] = {0, 0, 0, 0, 0, 0};
std::vector<mjCGeom*> sel; std::vector<mjCGeom*> sel;
// select geoms based on group // select geoms based on group, ignore tiny masses
sel.clear(); sel.clear();
for (int i=0; i < geoms.size(); i++) { for (int i=0; i < geoms.size(); i++) {
if (geoms[i]->group >= compiler->inertiagrouprange[0] && if (geoms[i]->group >= compiler->inertiagrouprange[0] &&
geoms[i]->group <= compiler->inertiagrouprange[1]) { geoms[i]->group <= compiler->inertiagrouprange[1] &&
geoms[i]->mass_ > mjEPS) {
sel.push_back(geoms[i]); sel.push_back(geoms[i]);
} }
} }
test/user/user_objects_test.cc
+62 -51
View File
@@ -68,8 +68,7 @@ TEST_F(VfsTest, HFieldPngWithVFS) {
// should fallback to OS filesystem // should fallback to OS filesystem
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -96,8 +95,7 @@ TEST_F(VfsTest, HFieldCustomWithVFS) {
// should fallback to OS filesystem // should fallback to OS filesystem
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -125,8 +123,7 @@ TEST_F(VfsTest, TexturePngWithVFS) {
// should fallback to OS filesystem // should fallback to OS filesystem
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -154,8 +151,7 @@ TEST_F(VfsTest, TextureCustomWithVFS) {
// should fallback to OS filesystem // should fallback to OS filesystem
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -187,8 +183,7 @@ TEST_F(ContentTypeTest, HFieldPngWithContentType) {
// should try loading the file // should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -216,8 +211,7 @@ TEST_F(ContentTypeTest, HFieldCustomWithContentType) {
// should try loading the file // should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -273,8 +267,7 @@ TEST_F(ContentTypeTest, TexturePngWithContentType) {
// should try loading the file // should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -303,8 +296,7 @@ TEST_F(ContentTypeTest, TextureCustomWithContentType) {
// should try loading the file // should try loading the file
mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get()); mjModel* model = LoadModelFromString(xml, error, error_sz, vfs.get());
EXPECT_THAT(model, IsNull()); EXPECT_THAT(model, IsNull());
EXPECT_THAT(error, EXPECT_THAT(error, HasSubstr("Error opening file"));
HasSubstr("Error opening file"));
mj_deleteVFS(vfs.get()); mj_deleteVFS(vfs.get());
} }
@@ -369,7 +361,6 @@ TEST_F(ContentTypeTest, TextureLoadPng) {
char error[1024]; char error[1024];
size_t error_sz = 1024; size_t error_sz = 1024;
// load VFS on the heap // load VFS on the heap
auto vfs = std::make_unique<mjVFS>(); auto vfs = std::make_unique<mjVFS>();
mj_defaultVFS(vfs.get()); mj_defaultVFS(vfs.get());
@@ -398,11 +389,11 @@ TEST_F(KeyframeTest, CheckValues) {
EXPECT_EQ(model->key_qpos[1 * model->nq], 0.2); EXPECT_EQ(model->key_qpos[1 * model->nq], 0.2);
EXPECT_EQ(model->key_qvel[2 * model->nv], 0.3); EXPECT_EQ(model->key_qvel[2 * model->nv], 0.3);
EXPECT_EQ(model->key_act[3 * model->na], 0.4); EXPECT_EQ(model->key_act[3 * model->na], 0.4);
EXPECT_THAT(AsVector(model->key_ctrl + 4*model->nu, model->nu), EXPECT_THAT(AsVector(model->key_ctrl + 4 * model->nu, model->nu),
ElementsAre(0.5, 0.6)); ElementsAre(0.5, 0.6));
EXPECT_THAT(AsVector(model->key_mpos + 3*model->nmocap*5, 3), EXPECT_THAT(AsVector(model->key_mpos + 3 * model->nmocap * 5, 3),
ElementsAre(.1, .2, .3)); ElementsAre(.1, .2, .3));
EXPECT_THAT(AsVector(model->key_mquat + 4*model->nmocap*6, 4), EXPECT_THAT(AsVector(model->key_mquat + 4 * model->nmocap * 6, 4),
ElementsAre(.5, .5, .5, .5)); ElementsAre(.5, .5, .5, .5));
mj_deleteModel(model); mj_deleteModel(model);
} }
@@ -607,9 +598,7 @@ TEST_F(RelativeFrameSensorParsingTest, BadObjRefName) {
std::array<char, 1024> error; std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size()); mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull()); ASSERT_THAT(model, IsNull());
EXPECT_THAT( EXPECT_THAT(error.data(), HasSubstr("unrecognized name 'alessio' of object"));
error.data(),
HasSubstr("unrecognized name 'alessio' of object"));
EXPECT_THAT(error.data(), HasSubstr("name 'tom'")); EXPECT_THAT(error.data(), HasSubstr("name 'tom'"));
EXPECT_THAT(error.data(), HasSubstr("line 7")); EXPECT_THAT(error.data(), HasSubstr("line 7"));
} }
@@ -663,9 +652,9 @@ TEST_F(MjCGeomTest, CapsuleInertiaZ) {
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0); mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
// z-inertia of capsule should equal sphere + cylinder z-inertia. // z-inertia of capsule should equal sphere + cylinder z-inertia.
mjtNum sphere_cylinder_z_inertia = mjtNum sphere_cylinder_z_inertia =
model->body_inertia[3*kSphereBodyId + 2] + model->body_inertia[3 * kSphereBodyId + 2] +
model->body_inertia[3*kCylinderBodyId + 2]; model->body_inertia[3 * kCylinderBodyId + 2];
mjtNum capsule_z_inertia = model->body_inertia[3*kCapsuleBodyId + 2]; mjtNum capsule_z_inertia = model->body_inertia[3 * kCapsuleBodyId + 2];
EXPECT_DOUBLE_EQ(sphere_cylinder_z_inertia, capsule_z_inertia); EXPECT_DOUBLE_EQ(sphere_cylinder_z_inertia, capsule_z_inertia);
mj_deleteModel(model); mj_deleteModel(model);
} }
@@ -675,27 +664,27 @@ TEST_F(MjCGeomTest, CapsuleInertiaX) {
mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0); mjModel* model = mj_loadXML(xml_path.c_str(), nullptr, 0, 0);
// The CoM of a solid hemisphere is 3/8*radius away from from the disk. // The CoM of a solid hemisphere is 3/8*radius away from from the disk.
mjtNum hs_com = model->geom_size[3*kCapsuleGeomId] * 3 / 8; mjtNum hs_com = model->geom_size[3 * kCapsuleGeomId] * 3 / 8;
// The mass of the two hemispherical end-caps is just the mass of the sphere. // The mass of the two hemispherical end-caps is just the mass of the sphere.
mjtNum sphere_mass = model->body_mass[1]; mjtNum sphere_mass = model->body_mass[1];
// x-inertia of capsule should equal sphere + cylinder x-inertias, with // x-inertia of capsule should equal sphere + cylinder x-inertias, with
// corrections from shifting the hemispheres using parallel axis theorem. // corrections from shifting the hemispheres using parallel axis theorem.
mjtNum sphere_cylinder_x_inertia = model->body_inertia[3*kSphereBodyId] + mjtNum sphere_cylinder_x_inertia = model->body_inertia[3 * kSphereBodyId] +
model->body_inertia[3*kCylinderBodyId]; model->body_inertia[3 * kCylinderBodyId];
// Parallel axis-theorem #1: translate the hemispheres in to the origin. // Parallel axis-theorem #1: translate the hemispheres in to the origin.
mjtNum translate_in = hs_com; mjtNum translate_in = hs_com;
sphere_cylinder_x_inertia -= sphere_mass * translate_in*translate_in; sphere_cylinder_x_inertia -= sphere_mass * translate_in * translate_in;
// Parallel axis-theorem #2: translate the hemispheres out to the end caps. // Parallel axis-theorem #2: translate the hemispheres out to the end caps.
mjtNum cylinder_half_length = model->geom_size[3*kCapsuleGeomId + 1]; mjtNum cylinder_half_length = model->geom_size[3 * kCapsuleGeomId + 1];
mjtNum translate_out = cylinder_half_length + hs_com; mjtNum translate_out = cylinder_half_length + hs_com;
sphere_cylinder_x_inertia += sphere_mass * translate_out*translate_out; sphere_cylinder_x_inertia += sphere_mass * translate_out * translate_out;
// Compare native capsule inertia and computed inertia. // Compare native capsule inertia and computed inertia.
mjtNum capsule_x_inertia = model->body_inertia[3*kCapsuleBodyId]; mjtNum capsule_x_inertia = model->body_inertia[3 * kCapsuleBodyId];
EXPECT_DOUBLE_EQ(sphere_cylinder_x_inertia, capsule_x_inertia); EXPECT_DOUBLE_EQ(sphere_cylinder_x_inertia, capsule_x_inertia);
mj_deleteModel(model); mj_deleteModel(model);
} }
@@ -1199,14 +1188,15 @@ TEST_F(MjCJointTest, AlignFree) {
// expect x-frames (sensors) to match to very high precision // expect x-frames (sensors) to match to very high precision
double eps = 1e-10; double eps = 1e-10;
EXPECT_THAT(AsVector(d->sensordata, m->nsensordata), EXPECT_THAT(
AsVector(d->sensordata, m->nsensordata),
Pointwise(DoubleNear(eps), AsVector(d_u->sensordata, m->nsensordata))); Pointwise(DoubleNear(eps), AsVector(d_u->sensordata, m->nsensordata)));
// no frame sensors for lights, test separately // no frame sensors for lights, test separately
EXPECT_THAT(AsVector(d->light_xpos, 3), EXPECT_THAT(AsVector(d->light_xpos, 3),
Pointwise(DoubleNear(eps), AsVector(d_u->light_xpos, 3))); Pointwise(DoubleNear(eps), AsVector(d_u->light_xpos, 3)));
EXPECT_THAT(AsVector(d->light_xdir, 3), EXPECT_THAT(AsVector(d->light_xdir, 3),
Pointwise(DoubleNear(eps), AsVector(d_u->light_xdir, 3))); Pointwise(DoubleNear(eps), AsVector(d_u->light_xdir, 3)));
// reduce timestep to 0.1ms and use RK4, simulate for 1 second // reduce timestep to 0.1ms and use RK4, simulate for 1 second
m->opt.timestep = m_u->opt.timestep = 1e-4; m->opt.timestep = m_u->opt.timestep = 1e-4;
@@ -1224,15 +1214,15 @@ TEST_F(MjCJointTest, AlignFree) {
EXPECT_GT(mju_norm(dqpos, nq), 1.0); EXPECT_GT(mju_norm(dqpos, nq), 1.0);
mj_freeStack(d); mj_freeStack(d);
// expect x-frames to match to reasonable precision // expect x-frames to match to reasonable precision
eps = 1e-5; eps = 1e-5;
EXPECT_THAT(AsVector(d->sensordata, m->nsensordata), EXPECT_THAT(
AsVector(d->sensordata, m->nsensordata),
Pointwise(DoubleNear(eps), AsVector(d_u->sensordata, m->nsensordata))); Pointwise(DoubleNear(eps), AsVector(d_u->sensordata, m->nsensordata)));
EXPECT_THAT(AsVector(d->light_xpos, 3), EXPECT_THAT(AsVector(d->light_xpos, 3),
Pointwise(DoubleNear(eps), AsVector(d_u->light_xpos, 3))); Pointwise(DoubleNear(eps), AsVector(d_u->light_xpos, 3)));
EXPECT_THAT(AsVector(d->light_xdir, 3), EXPECT_THAT(AsVector(d->light_xdir, 3),
Pointwise(DoubleNear(eps), AsVector(d_u->light_xdir, 3))); Pointwise(DoubleNear(eps), AsVector(d_u->light_xdir, 3)));
mj_deleteData(d_u); mj_deleteData(d_u);
mj_deleteData(d); mj_deleteData(d);
@@ -1247,8 +1237,7 @@ TEST_F(MjCJointTest, AlignFree) {
using MjCHFieldTest = MujocoTest; using MjCHFieldTest = MujocoTest;
TEST_F(MjCHFieldTest, PngMap) { TEST_F(MjCHFieldTest, PngMap) {
const string xml_path = const string xml_path = GetTestDataFilePath("user/testdata/hfield_png.xml");
GetTestDataFilePath("user/testdata/hfield_png.xml");
std::array<char, 1024> error; std::array<char, 1024> error;
mjModel* model = mjModel* model =
mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size()); mj_loadXML(xml_path.c_str(), nullptr, error.data(), error.size());
@@ -1569,7 +1558,7 @@ TEST_F(InheritrangeTest, WorksForDegrees) {
std::array<char, 1024> error; std::array<char, 1024> error;
mjModel* model = LoadModelFromString(xml, error.data(), error.size()); mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, NotNull()) << error.data(); ASSERT_THAT(model, NotNull()) << error.data();
EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[0], mjPI/2); EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[0], mjPI / 2);
EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[1], mjPI); EXPECT_DOUBLE_EQ(model->actuator_ctrlrange[1], mjPI);
mj_deleteModel(model); mj_deleteModel(model);
@@ -1938,7 +1927,7 @@ TEST_F(LimitedTest, JointLimited) {
ASSERT_THAT(model, NotNull()) << err.data(); ASSERT_THAT(model, NotNull()) << err.data();
// see `user/testdata/auto_limits.xml` for expected values // see `user/testdata/auto_limits.xml` for expected values
for (int i=0; i < model->njnt; i++) { for (int i = 0; i < model->njnt; i++) {
EXPECT_EQ(model->jnt_limited[i], (mjtByte)model->jnt_user[i]) EXPECT_EQ(model->jnt_limited[i], (mjtByte)model->jnt_user[i])
<< i << " " << (int)model->jnt_limited[i] << " " << i << " " << (int)model->jnt_limited[i] << " "
<< (int)model->jnt_user[i]; << (int)model->jnt_user[i];
@@ -2402,7 +2391,8 @@ TEST_F(UserObjectsTest, BadConnect) {
EXPECT_THAT(AsVector(m->eq_data, 6), ElementsAre(0, 0, 0, 0, 0, 0)); EXPECT_THAT(AsVector(m->eq_data, 6), ElementsAre(0, 0, 0, 0, 0, 0));
mj_deleteModel(m); mj_deleteModel(m);
char error_missing[] = "either both body1 and anchor must be defined," char error_missing[] =
"either both body1 and anchor must be defined,"
" or both site1 and site2 must be defined\nElement 'connect', line 12"; " or both site1 and site2 must be defined\nElement 'connect', line 12";
// bad model (missing anchor) // bad model (missing anchor)
@@ -2411,7 +2401,8 @@ TEST_F(UserObjectsTest, BadConnect) {
ASSERT_THAT(m, IsNull()); ASSERT_THAT(m, IsNull());
EXPECT_THAT(error, HasSubstr(error_missing)); EXPECT_THAT(error, HasSubstr(error_missing));
char error_mixed[] = "body and site semantics cannot be mixed" char error_mixed[] =
"body and site semantics cannot be mixed"
"\nElement 'connect', line 12"; "\nElement 'connect', line 12";
// bad model (mixing body and site) // bad model (mixing body and site)
@@ -2570,18 +2561,18 @@ TEST_F(UserObjectsTest, Inertial) {
mjModel* m = LoadModelFromString(xml.c_str(), error, sizeof(error)); mjModel* m = LoadModelFromString(xml.c_str(), error, sizeof(error));
ASSERT_THAT(m, NotNull()) << error; ASSERT_THAT(m, NotNull()) << error;
EXPECT_EQ(m->body_mass[1], 1); EXPECT_EQ(m->body_mass[1], 1);
EXPECT_THAT(AsVector(m->body_ipos+3, 3), ElementsAre(2, 3, 4)); EXPECT_THAT(AsVector(m->body_ipos + 3, 3), ElementsAre(2, 3, 4));
EXPECT_THAT(AsVector(m->body_inertia+3, 3), ElementsAre(4, 5, 6)); EXPECT_THAT(AsVector(m->body_inertia + 3, 3), ElementsAre(4, 5, 6));
mjtNum quat[4]; mjtNum quat[4];
const mjtNum euler[3] = {3, 4, 5}; const mjtNum euler[3] = {3, 4, 5};
mju_euler2Quat(quat, euler, "xyz"); mju_euler2Quat(quat, euler, "xyz");
EXPECT_THAT(AsVector(m->body_iquat+4, 4), EXPECT_THAT(AsVector(m->body_iquat + 4, 4),
Pointwise(DoubleNear(1e-8), AsVector(quat, 4))); Pointwise(DoubleNear(1e-8), AsVector(quat, 4)));
EXPECT_EQ(m->body_mass[2], 2); EXPECT_EQ(m->body_mass[2], 2);
EXPECT_THAT(AsVector(m->body_ipos+6, 3), ElementsAre(1, 2, 3)); EXPECT_THAT(AsVector(m->body_ipos + 6, 3), ElementsAre(1, 2, 3));
EXPECT_THAT(AsVector(m->body_inertia+6, 3), ElementsAre(4, 3, 2)); EXPECT_THAT(AsVector(m->body_inertia + 6, 3), ElementsAre(4, 3, 2));
mj_deleteModel(m); mj_deleteModel(m);
string bad_xml1 = R"( string bad_xml1 = R"(
@@ -2611,5 +2602,25 @@ TEST_F(UserObjectsTest, Inertial) {
EXPECT_THAT(error, HasSubstr("fullinertia and inertial orientation cannot")); EXPECT_THAT(error, HasSubstr("fullinertia and inertial orientation cannot"));
} }
TEST_F(UserObjectsTest, ZeroMass) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<body>
<geom mass="0" size="0.01"/>
<geom mass="0" size="0.01"/>
</body>
</body>
</worldbody>
</mujoco>
)";
char error[1024];
mjModel* model = LoadModelFromString(xml, error, sizeof(error));
EXPECT_THAT(model, NotNull()) << error;
mj_deleteModel(model);
}
} // namespace } // namespace
} // namespace mujoco } // namespace mujoco