Use shell inertia to compute mesh aabb and frame if volume is invalid.

PiperOrigin-RevId: 530925161 Change-Id: I94b97efc7198e2b750480df8687e91bc047a6fc9
2023-05-10 09:11:09 -07:00
parent 1aadef5927
commit 41a7049920
4 changed files with 192 additions and 143 deletions
@@ -9,6 +9,14 @@ Upcoming version (not yet released)
   :align: right
   :width: 240px

+
+Bug fixes
+^^^^^^^
+
+- Fixed a bug that was causing an incorrect computation of the mesh bounding box and coordinate frame if the volume was
+  invalid. In such case, now MuJoCo only accepts a non-watertight geometry if :ref:`shellinertia<body-geom-shellinertia>`
+  is equal to ``true`.
+
 Plugins
 ^^^^^^^