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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_urdf.cc
+1 -1
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@@ -207,7 +207,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
// inertial element: copy into alternative body frame
if ((elem = FindSubElem(body_elem, "inertial"))) {
pbody->explicit_inertial = true;
pbody->explicitinertial = true;
// origin- relative to joint frame for now
Origin(elem, pbody->ipos, pbody->iquat);