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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/xml/xml_base.h
+1 -1
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@@ -92,7 +92,7 @@ class mjXBase : public mjXUtil {
void SetModel(mjCModel*);
// read alternative orientation specification
static int ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
static void ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
protected:
mjCModel* model; // internally-allocated mjCModel object