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

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PiperOrigin-RevId: 466421062
Change-Id: I947dbc107e481bd8c328b1a6430ab2e88bc82fd6
This commit is contained in:
Alessio Quaglino
2022-08-09 11:40:49 -07:00
committed by Copybara-Service
parent aee73a9023
commit 95d5db3f81
8 changed files with 230 additions and 33 deletions
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src/xml/xml_native_writer.cc
+1 -1
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@@ -1178,7 +1178,7 @@ void mjXWriter::Body(XMLElement* elem, mjCBody* body) {
WriteVector(elem, "user", body->userdata);
// write inertial
if (body->explicit_inertial &&
if (body->explicitinertial &&
model->inertiafromgeom!=mjINERTIAFROMGEOM_TRUE) {
XMLElement* inertial = InsertEnd(elem, "inertial");
WriteAttr(inertial, "pos", 3, body->locipos);