diff --git a/src/engine/engine_setconst.c b/src/engine/engine_setconst.c
index 6dd01a94..6473601f 100644
--- a/src/engine/engine_setconst.c
+++ b/src/engine/engine_setconst.c
@@ -737,18 +737,8 @@ static void set0(mjModel* m, mjData* d) {
       }
 
       // average diagonal and assign
-      mjtNum tran = (A[0] + A[7] + A[14])/3;
-      mjtNum rot = (A[21] + A[28] + A[35])/3;
-
-      // if one is zero, use the other to prevent degenerate constraints
-      if (tran < mjMINVAL && rot > mjMINVAL) {
-        tran = rot;  // use rotation as fallback for translation
-      } else if (rot < mjMINVAL && tran > mjMINVAL) {
-        rot = tran;  // use translation as fallback for rotation
-      }
-
-      m->body_invweight0[2*i] = tran;
-      m->body_invweight0[2*i+1] = rot;
+      m->body_invweight0[2*i] = (A[0] + A[7] + A[14])/3;
+      m->body_invweight0[2*i+1] = (A[21] + A[28] + A[35])/3;
     }
   }
 
diff --git a/test/engine/engine_forward_test.cc b/test/engine/engine_forward_test.cc
index 79df5022..4e2f974e 100644
--- a/test/engine/engine_forward_test.cc
+++ b/test/engine/engine_forward_test.cc
@@ -811,43 +811,6 @@ TEST_F(ForwardTest, MocapQuats) {
   mj_deleteModel(model);
 }
 
-// model with degenerate translational inertia
-TEST_F(ForwardTest, DegenerateInertia) {
-  static constexpr char xml[] = R"(
-  <mujoco>
-    <option integrator="implicitfast" cone="elliptic">
-      <flag gravity="disable"/>
-    </option>
-    <worldbody>
-      <body name="1" pos="0.05 0.3 0">
-        <joint name="1" axis="0 1 0"/>
-        <geom type="capsule" size="0.1 0.5"/>
-      </body>
-      <body name="2">
-        <joint name="2" axis="1 0 0" stiffness="1" springref="90"/>
-        <geom type="capsule" size="0.1 0.5"/>
-      </body>
-    </worldbody>
-  </mujoco>
-  )";
-  char error[1024];
-  mjModel* model = LoadModelFromString(xml, error, sizeof(error));
-  ASSERT_THAT(model, NotNull()) << error;
-  mjData* data = mj_makeData(model);
-
-  for (int i = 0; i < 1000; i++) {
-    mj_step(model, data);
-    EXPECT_EQ(data->warning[mjWARN_BADQACC].number, 0)
-        << "divergence at timestep " << i;
-    if (data->warning[mjWARN_BADQACC].number != 0) {
-      break;
-    }
-  }
-
-  mj_deleteData(data);
-  mj_deleteModel(model);
-}
-
 // user defined 2nd-order activation dynamics: frequency-controlled oscillator
 //  note that scalar mjcb_act_dyn callbacks are expected to return act_dot, but
 //  since we have a vector output we write into act_dot directly