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

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PiperOrigin-RevId: 604812870
Change-Id: I018254d1362a654a4f99bf5e621d5abc7129a0c6
This commit is contained in:
Matthew Bennice
2024-02-06 17:20:24 -08:00
committed by Copybara-Service
parent 19c41aa965
commit b9c50ad79c
10 changed files with 96 additions and 72 deletions
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src/xml/xml_base.h
+1 -1
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@@ -92,7 +92,7 @@ class mjXBase : public mjXUtil {
void SetModel(mjCModel*);
// read alternative orientation specification
static void ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
static int ReadAlternative(tinyxml2::XMLElement* elem, mjmOrientation& alt);
protected:
mjCModel* model; // internally-allocated mjCModel object