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Automated g4 rollback of changelist 604607692.

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*** Reason for rollback ***

breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's

*** Original change description ***

Move fullinertia from mjCAlternative to mjCBody.

***

PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
This commit is contained in:
Matthew Bennice
2024-02-06 09:46:02 -08:00
committed by Copybara-Service
parent 737342bdfe
commit 84f20ffb66
10 changed files with 72 additions and 82 deletions
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src/user/user_model.cc
+3 -2
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@@ -2551,8 +2551,9 @@ void mjCModel::FuseStatic(void) {
}
// compute principal axes of inertia
mjuu_copyvec(par->fullinertia, toti, 6);
const char* err1 = par->FullInertia(par->iquat, par->inertia);
mjCAlternative alt;
mjuu_copyvec(alt.fullinertia, toti, 6);
const char* err1 = alt.Set(par->iquat, par->inertia, degree, euler);
if (err1) {
throw mjCError(NULL, "error '%s' in fusing static body inertias", err1);
}