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Add XML compiler/saveinertial flag. Fixes #2405

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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
This commit is contained in:
Yuval Tassa
2025-04-03 10:11:35 -07:00
committed by Copybara-Service
parent 8941f56e86
commit f96f3e1c22
11 changed files with 47 additions and 10 deletions
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doc/XMLreference.rst
+4
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@@ -832,6 +832,10 @@ has any effect. The settings here are global and apply to the entire model.
necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial
computation.
.. _compiler-saveinertial:
:at:`saveinertial`: :at-val:`[false, true], "false"`
If set to "true", the compiler will save explicit :ref:`inertial <body-inerital>` clauses for all bodies.
.. _compiler-lengthrange:
doc/XMLschema.rst
+1 -1
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@@ -54,7 +54,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`discardvisual<compiler-discardvisual>` | :ref:`usethread<compiler-usethread>` | :ref:`fusestatic<compiler-fusestatic>` | :ref:`inertiafromgeom<compiler-inertiafromgeom>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`assetdir<compiler-assetdir>` | :ref:`alignfree<compiler-alignfree>` | | |
| | | | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`saveinertial<compiler-saveinertial>` | :ref:`assetdir<compiler-assetdir>` | :ref:`alignfree<compiler-alignfree>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| compiler |br| |_| |L| | | .. table:: |
doc/changelog.rst
+3 -1
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@@ -15,7 +15,9 @@ Upcoming version (not yet released)
General
^^^^^^^
- Add :ref:`orientation<body-composite-quat>` parameter to :ref:`composite<body-composite>`. Moreover, allow the
- Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
bodies when saving to XML.
- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
composite to be the direct child of a frame.
Bug fixes
doc/includes/references.h
+1
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@@ -1736,6 +1736,7 @@ typedef struct mjsCompiler_ { // compiler options
mjtByte fusestatic; // fuse static bodies with parent
int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtByte saveinertial; // save explicit inertial clause for all bodies to XML
int alignfree; // align free joints with inertial frame
mjLROpt LRopt; // options for lengthrange computation
} mjsCompiler;
include/mujoco/mjspec.h
+1
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@@ -138,6 +138,7 @@ typedef struct mjsCompiler_ { // compiler options
mjtByte fusestatic; // fuse static bodies with parent
int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtByte saveinertial; // save explicit inertial clause for all bodies to XML
int alignfree; // align free joints with inertial frame
mjLROpt LRopt; // options for lengthrange computation
} mjsCompiler;
python/mujoco/introspect/structs.py
+5
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@@ -9137,6 +9137,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
),
doc='range of geom groups used to compute inertia',
),
StructFieldDecl(
name='saveinertial',
type=ValueType(name='mjtByte'),
doc='save explicit inertial clause for all bodies to XML',
),
StructFieldDecl(
name='alignfree',
type=ValueType(name='int'),
src/user/user_init.c
+1
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@@ -42,6 +42,7 @@ void mjs_defaultSpec(mjSpec* spec) {
spec->compiler.usethread = 1;
spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
spec->compiler.inertiagrouprange[1] = mjNGROUP-1;
spec->compiler.saveinertial = 0;
mj_defaultLROpt(&spec->compiler.LRopt);
// engine data
src/xml/xml_native_reader.cc
+6 -3
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@@ -97,10 +97,10 @@ static void UpdateString(string& psuffix, int count, int i) {
const char* MJCF[nMJCF][mjXATTRNUM] = {
{"mujoco", "!", "1", "model"},
{"<"},
{"compiler", "*", "19", "autolimits", "boundmass", "boundinertia", "settotalmass",
{"compiler", "*", "20", "autolimits", "boundmass", "boundinertia", "settotalmass",
"balanceinertia", "strippath", "coordinate", "angle", "fitaabb", "eulerseq",
"meshdir", "texturedir", "discardvisual", "usethread",
"fusestatic", "inertiafromgeom", "inertiagrouprange", "assetdir", "alignfree"},
"meshdir", "texturedir", "discardvisual", "usethread", "fusestatic", "inertiafromgeom",
"inertiagrouprange", "saveinertial", "assetdir", "alignfree"},
{"<"},
{"lengthrange", "?", "10", "mode", "useexisting", "uselimit",
"accel", "maxforce", "timeconst", "timestep",
@@ -1015,6 +1015,9 @@ void mjXReader::Compiler(XMLElement* section, mjSpec* spec) {
if (MapValue(section, "alignfree", &n, bool_map, 2)) {
spec->compiler.alignfree = (n == 1);
}
if (MapValue(section, "saveinertial", &n, bool_map, 2)) {
spec->compiler.saveinertial = (n == 1);
}
// lengthrange subelement
XMLElement* elem = FindSubElem(section, "lengthrange");
src/xml/xml_native_writer.cc
+2 -1
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@@ -1632,7 +1632,8 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body, mjCFrame* frame, string_vi
WriteVector(elem, "user", body->get_userdata());
// write inertial
if (body->explicitinertial && model->compiler.inertiafromgeom != mjINERTIAFROMGEOM_TRUE) {
if (model->compiler.saveinertial ||
(body->explicitinertial && model->compiler.inertiafromgeom != mjINERTIAFROMGEOM_TRUE)) {
XMLElement* inertial = InsertEnd(elem, "inertial");
WriteAttr(inertial, "pos", 3, body->ipos);
WriteAttr(inertial, "quat", 4, body->iquat, unitq);
test/xml/xml_native_writer_test.cc
+22 -4
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@@ -22,7 +22,7 @@
#include <array>
#include <clocale>
#include <cstdio>
#include <filesystem>
#include <filesystem> // NOLINT(build/c++17)
#include <string>
#include <vector>
@@ -32,7 +32,6 @@
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mujoco.h>
#include "src/cc/array_safety.h"
#include "src/xml/xml_numeric_format.h"
#include "test/fixture.h"
@@ -135,6 +134,23 @@ TEST_F(XMLWriterTest, SavesDisableSensor) {
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, SavesInertial) {
static constexpr char xml[] = R"(
<mujoco>
<compiler saveinertial="true"/>
<worldbody>
<body>
<geom type="box" size=".05 .05 .05"/>
</body>
</worldbody>
</mujoco>
)";
mjModel* model = LoadModelFromString(xml);
std::string saved_xml = SaveAndReadXml(model);
EXPECT_THAT(saved_xml, HasSubstr("mass=\"1\""));
mj_deleteModel(model);
}
TEST_F(XMLWriterTest, EmptyUserSensor) {
static constexpr char xml[] = R"(
<mujoco>
@@ -957,8 +973,10 @@ TEST_F(XMLWriterTest, WritesSkin) {
ASSERT_THAT(model, NotNull());
EXPECT_THAT(model->nskin, 1);
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model));
ASSERT_THAT(mtemp, NotNull());
char error[1024];
mjModel* mtemp = LoadModelFromString(SaveAndReadXml(model),
error, sizeof(error));
ASSERT_THAT(mtemp, NotNull()) << error;
EXPECT_THAT(mtemp->nskin, 1);
mj_deleteModel(model);
unity/Runtime/Bindings/MjBindings.cs
+1
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@@ -5765,6 +5765,7 @@ public unsafe struct mjsCompiler_ {
public byte fusestatic;
public int inertiafromgeom;
public fixed int inertiagrouprange[2];
public byte saveinertial;
public int alignfree;
public mjLROpt_ LRopt;
}