chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Automated g4 rollback of changelist 604607692.

Browse Source 
*** 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
Download Patch File Download Diff File Expand all files Collapse all files
src/xml/xml_base.cc
+5 -6
View File
@@ -51,15 +51,14 @@ void mjXBase::SetModel(mjCModel* _model) {
// read alternative orientation specification
int mjXBase::ReadAlternative(XMLElement* elem, mjmOrientation& alt) {
void mjXBase::ReadAlternative(XMLElement* elem, mjmOrientation& alt) {
string text;
int read = (int)(elem->Attribute("quat") != 0) +
(ReadAttr(elem, "axisangle", 4, alt.axisangle, text) ? 1 : 0) +
(ReadAttr(elem, "xyaxes", 6, alt.xyaxes, text) ? 1 : 0) +
(ReadAttr(elem, "zaxis", 3, alt.zaxis, text) ? 1 : 0) +
(ReadAttr(elem, "euler", 3, alt.euler, text) ? 1 : 0);
if (read > 1) {
throw mjXError(elem, "multiple orientation specifiers are not allowed");
}
return read;
(ReadAttr(elem, "euler", 3, alt.euler, text) ? 1 : 0) +
(ReadAttr(elem, "fullinertia", 6, alt.fullinertia, text) ? 1 : 0);
if (read > 1)
throw mjXError(elem, "multiple orientation specifiers for the same field are not allowed");
}