Move fullinertia from mjCAlternative to mjCBody with correction to handle URDF with 0 inertias.

PiperOrigin-RevId: 604812870 Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
2024-02-06 17:20:24 -08:00
parent 19c41aa965
commit b9c50ad79c
10 changed files with 96 additions and 72 deletions
@@ -30,7 +30,6 @@ typedef struct _mjmOrientation {
  double xyaxes[6];               // x and y axes
  double zaxis[3];                // z axis (use minimal rotation)
  double euler[3];                // euler rotations
-  double fullinertia[6];          // non-axis-aligned inertia matrix
 } mjmOrientation;

 typedef struct _mjmSite {