[BUG FIX] Apply the per-geom density in MJCF asset. - #3269
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| # and estimated masses would make the anchor density-dependent, and a kinematic entity has no density | ||
| # to fall back on, so alignment could differ from the rigid counterpart. Require all-or-none and raise | ||
| # otherwise. |
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Description
densityandmassfrom MJCF geomfor a link with no collision geometry.
so a link mixing stated and unstated geoms anchors at the right relative weights instead of
being rejected as ambiguous.
With
recompute_inertia=Truethis PR affects assets that author the Gym-styledensity="5":xml/ant.xml97.33 -> 0.324 kg (Mujoco: 0.327),xml/one_tet.xml1600 -> 13.3,xml/thin_box.xml0.0096 -> 8e-05. Default options are unaffected: link masses are same on MJCFs withrecompute_inertia=False.Related Issue
Motivation and Context
An asset that states what its geoms are made of should be weighed by it whenever Genesis computes the mass itself.
How Has This Been / Can This Be Tested?
tests/rigid tests/parserstests/rigid/test_asset_loading.py::test_mjcf_authored_geom_densityChecklist:
Submitting Code Changessection of CONTRIBUTING document.