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
@@ -3,6 +3,8 @@
    <mesh file="malformed_face.obj"/>
  </asset>
  <worldbody>
-    <geom type="mesh" mesh="malformed_face"/>
+    <body>
+      <geom type="mesh" mesh="malformed_face"/>
+    </body>
  </worldbody>
 </mujoco>