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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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test/xml/xml_native_reader_test.cc
+2 -2
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@@ -414,7 +414,7 @@ TEST_F(XMLReaderTest, InvalidDoubleOrientation) {
ASSERT_THAT(model, IsNull());
EXPECT_THAT(
error.data(),
HasSubstr("multiple orientation specifiers for the same field"));
HasSubstr("multiple orientation specifiers are not allowed"));
}
}
}
@@ -525,7 +525,7 @@ TEST_F(XMLReaderTest, InvalidInertialOrientation) {
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(),
HasSubstr("multiple orientation specifiers for the same field"));
HasSubstr("multiple orientation specifiers are not allowed"));
}
TEST_F(XMLReaderTest, ReadShellParameter) {