Allow malformed meshes for visualization purposes. Throw error only if the mesh is required for inertia computation.

PiperOrigin-RevId: 466421062 Change-Id: I947dbc107e481bd8c328b1a6430ab2e88bc82fd6
2022-08-09 11:40:49 -07:00
parent aee73a9023
commit 95d5db3f81
8 changed files with 230 additions and 33 deletions
@@ -2284,7 +2284,7 @@ void mjXReader::Body(XMLElement* section, mjCBody* pbody) {
      if (pbody->id==0) {
        throw mjXError(elem, "World body cannot have inertia");
      }
-      pbody->explicit_inertial = true;
+      pbody->explicitinertial = true;
      ReadAttr(elem, "pos", 3, pbody->ipos, text, true);
      ReadAttr(elem, "quat", 4, pbody->iquat, text);
      ReadAttr(elem, "mass", 1, &pbody->mass, text, true);