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Changes to inertia inference from meshes.

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PiperOrigin-RevId: 726051033
Change-Id: I6edfc118280d103a2dd9d07f29f0094858769761
This commit is contained in:
Tom Power
2025-02-12 07:42:15 -08:00
committed by Copybara-Service
parent e39a5df06a
commit 89253d957d
21 changed files with 438 additions and 299 deletions
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test/user/user_objects_test.cc
+1 -1
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@@ -1141,7 +1141,7 @@ TEST_F(MjCGeomTest, BadMeshZeroMassDensityDoesntError) {
<asset>
<mesh name="bad_mesh"
vertex="0 0 0 1 0 0 0 1 0 0 0 1"
face="0 2 1" />
face="0 2 1" inertia="shell"/>
</asset>
<worldbody>
<body>