Hello Robot obj causes ComputeSpatialInertia to throw.

RobotLocomotion · Jul 2, 2024 · 2fe7f24 · 2fe7f24
1 parent 8780ea0
commit 2fe7f24
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Showing 3 changed files with 28 additions and 1 deletion.
diff --git a/multibody/tree/BUILD.bazel b/multibody/tree/BUILD.bazel
@@ -689,10 +689,12 @@ drake_cc_googletest(
     data = [
         "//geometry:test_vtk_files",
         "//multibody/parsing:test_models",
+        "@mujoco_menagerie_internal//:hello_robot_stretch",
     ],
     deps = [
         ":geometry_spatial_inertia",
         "//common:find_resource",
+        "//common:find_runfiles",
         "//common/test_utilities:eigen_matrix_compare",
         "//common/test_utilities:expect_throws_message",
         "//geometry:shape_specification",

diff --git a/multibody/tree/test/geometry_spatial_inertia_test.cc b/multibody/tree/test/geometry_spatial_inertia_test.cc
@@ -7,6 +7,7 @@
 #include <gtest/gtest.h>
 
 #include "drake/common/find_resource.h"
+#include "drake/common/find_runfiles.h"
 #include "drake/common/fmt_eigen.h"
 #include "drake/common/test_utilities/eigen_matrix_compare.h"
 #include "drake/common/test_utilities/expect_throws_message.h"
@@ -213,7 +214,19 @@ TYPED_TEST_P(MeshTypeSpatialInertaTest, Administrivia) {
   }
 }
 
-REGISTER_TYPED_TEST_SUITE_P(MeshTypeSpatialInertaTest, Administrivia);
+// Reproduction for issue #21666.
+TYPED_TEST_P(MeshTypeSpatialInertaTest, HelloRobotStretch) {
+  using MeshType = TypeParam;
+
+  const RlocationOrError rlocation = FindRunfile(
+      "mujoco_menagerie_internal/hello_robot_stretch/assets/base_link_0.obj");
+  ASSERT_EQ(rlocation.error, "");
+  const MeshType unit_scale_obj(rlocation.abspath, 1.0);
+  EXPECT_NO_THROW(CalcSpatialInertia(unit_scale_obj, kDensity));
+}
+
+REGISTER_TYPED_TEST_SUITE_P(MeshTypeSpatialInertaTest, Administrivia,
+                            HelloRobotStretch);
 using MeshTypes = ::testing::Types<geometry::Convex, geometry::Mesh>;
 INSTANTIATE_TYPED_TEST_SUITE_P(All, MeshTypeSpatialInertaTest, MeshTypes);
 

diff --git a/tools/workspace/mujoco_menagerie_internal/package.BUILD.bazel b/tools/workspace/mujoco_menagerie_internal/package.BUILD.bazel
@@ -19,6 +19,18 @@ filegroup(
     ]),
 )
 
+filegroup(
+    name = "hello_robot_stretch",
+    srcs = [
+        "hello_robot_stretch/stretch.xml",
+        "hello_robot_stretch/LICENSE",
+    ] + glob([
+        "hello_robot_stretch/assets/*.obj",
+        "hello_robot_stretch/assets/*.png",
+        "hello_robot_stretch/assets/*.stl",
+    ])
+)
+
 filegroup(
     name = "kuka_iiwa_14",
     srcs = [