Use enum instead of NaNs for alternative orientation specification.

PiperOrigin-RevId: 627413508 Change-Id: I9f1a682a1533e1a3fa3cac0a462f28ce9b0fa192
2024-04-23 09:31:27 -07:00
parent f457789de1
commit cf433a4ad9
5 changed files with 46 additions and 23 deletions
@@ -635,6 +635,7 @@ void mjXURDF::Origin(XMLElement* origin_elem, double* pos, double* quat) {
    mjsOrientation alt;
    mjs_defaultOrientation(alt);
    if (ReadAttr(temp, "rpy", 3, alt.euler, text)) {
+      alt.type = mjORIENTATION_EULER;
      mjs_resolveOrientation(quat, 0, "XYZ", &alt);
    }
  }