Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Mujoco bad inertia test case #22414

Merged
merged 1 commit into from
Jan 8, 2025
Merged

Mujoco bad inertia test case #22414

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions multibody/parsing/detail_mujoco_parser.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -984,6 +984,7 @@ class MujocoParser {
if (!M_GGo_G.IsPhysicallyValid()) {
Error(*node, fmt::format("geom {} {}", geom.name,
M_GGo_G.CriticizeNotPhysicallyValid()));
return geom;
}

// Shift spatial inertia from Go to Bo and express it in the B frame.
Expand Down
35 changes: 35 additions & 0 deletions multibody/parsing/test/detail_mujoco_parser_test.cc
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -772,6 +772,41 @@ TEST_F(MujocoParserTest, BadMeshSpatialInertiaFallback) {
// that we're using it (and not choking).
}

// Some meshes are so broken that even falling back to a convex hull can't save
// us. Verify we get a useful error message.
TEST_F(MujocoParserTest, BadMeshSpatialInertiaTotalFail) {
// This obj is known to produce a negative volume in CalcSpatialInertia().
const RlocationOrError rlocation = FindRunfile(
"drake/multibody/parsing/test/neg_volume.obj");
ASSERT_EQ(rlocation.error, "");
const geometry::Mesh bad_mesh(rlocation.abspath, 1.0);

// We know the spatial inertia is bad because CalcSpatialInertia()
// throws. Keep this confirmation that the mesh in question truly is **bad**.
DRAKE_EXPECT_THROWS_MESSAGE(CalcSpatialInertia(bad_mesh, 1.0),
".*volume.*is -1.*");

std::string xml = fmt::format(R"""(
<mujoco model="test">
<asset>
<mesh name="box" file="{}"/> </asset>
<worldbody>
<body name="body1">
<geom name="box_geom" type="mesh" mesh="box"/>
</body>
</worldbody>
</mujoco>
)""", rlocation.abspath);

EXPECT_NO_THROW(AddModelFromString(xml, "test"));
EXPECT_THAT(TakeWarning(), MatchesRegex(".*volume.*is -1.*"));
EXPECT_THAT(TakeWarning(), MatchesRegex(".*fallback.*"));
// Note: These errors are reported as a result of attempted fallback to a
// convex hull.
EXPECT_THAT(TakeError(), MatchesRegex(".*even.*convex hull.*"));
EXPECT_THAT(TakeError(), MatchesRegex(".*IsPhysicallyValid.*"));
}

TEST_F(MujocoParserTest, MeshFileRelativePathFromFile) {
const std::string file = FindResourceOrThrow(
"drake/multibody/parsing/test/box_package/mjcfs/box.xml");
Expand Down
8 changes: 8 additions & 0 deletions multibody/parsing/test/neg_volume.obj
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,8 @@
# An adversarially bad mesh that produces a negative volume in
# CalcSpatialInertia(). The single triangle has an implied normal pointing
# toward the origin.

v 1 0 0
v 1 2 0
v 1 0 3
f 3 2 1