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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_native_reader.cc
+1 -5
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@@ -3021,11 +3021,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody, mjCFrame* frame) {
ReadQuat(elem, "quat", pbody->iquat, text);
ReadAttr(elem, "mass", 1, &pbody->mass, text, true);
ReadAttr(elem, "diaginertia", 3, pbody->inertia, text);
bool alt = ReadAlternative(elem, pbody->ialt);
bool full = ReadAttr(elem, "fullinertia", 6, pbody->fullinertia, text);
if (alt && full) {
throw mjXError(elem, "multiple orientation specifiers are not allowed");
}
ReadAlternative(elem, pbody->ialt);
}
// joint sub-element