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Do not infer inertia if geom is not in inertiagrouprange.

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PiperOrigin-RevId: 483994271
Change-Id: Ia663cd30e93d9c3a2e32408a658f091af4d1ca1a
This commit is contained in:
Alessio Quaglino
2022-10-26 09:44:44 -07:00
committed by Copybara-Service
parent da33c5922f
commit f695f55253
2 changed files with 42 additions and 2 deletions
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src/user/user_objects.cc
+4 -2
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@@ -701,8 +701,10 @@ void mjCBody::Compile(void) {
// compile all geoms, phase 1 // compile all geoms, phase 1
for (i=0; i<geoms.size(); i++) { for (i=0; i<geoms.size(); i++) {
geoms[i]->inferinertia = id>0 && (!explicitinertial || geoms[i]->inferinertia = id>0 &&
model->inertiafromgeom==mjINERTIAFROMGEOM_TRUE); (!explicitinertial || model->inertiafromgeom == mjINERTIAFROMGEOM_TRUE) &&
geoms[i]->group >= model->inertiagrouprange[0] &&
geoms[i]->group <= model->inertiagrouprange[1];
geoms[i]->Compile(); geoms[i]->Compile();
} }
test/user/user_objects_test.cc
+38
View File
@@ -265,6 +265,44 @@ TEST_F(MjCGeomTest, CapsuleInertiaX) {
mj_deleteModel(model); mj_deleteModel(model);
} }
// ------------- test inertiagrouprange ----------------------------------------
TEST_F(MjCGeomTest, IgnoreGeomOutsideInertiagrouprange) {
static constexpr char xml[] = R"(
<mujoco>
<compiler inertiagrouprange="0 1"/>
<worldbody>
<body>
<geom size="1" group="3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml, nullptr, 0);
EXPECT_THAT(m->body_mass[1], 0);
mj_deleteModel(m);
}
TEST_F(MjCGeomTest, IgnoreBadGeomOutsideInertiagrouprange) {
static constexpr char xml[] = R"(
<mujoco>
<compiler inertiagrouprange="0 1"/>
<asset>
<mesh name="malformed_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="malformed_mesh" group="3"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* m = LoadModelFromString(xml, nullptr, 0);
EXPECT_THAT(m->body_mass[1], 0);
mj_deleteModel(m);
}
// ------------- test height fields -------------------------------------------- // ------------- test height fields --------------------------------------------
using MjCHFieldTest = MujocoTest; using MjCHFieldTest = MujocoTest;