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Improve full inertia user API.

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PiperOrigin-RevId: 627399310
Change-Id: Ie2bdc6778e80b2b8127b52c73a3cc4b4755d8e0a
This commit is contained in:
Yuval Tassa
2024-04-23 08:39:10 -07:00
committed by Copybara-Service
parent c6ab354bd7
commit f457789de1
6 changed files with 55 additions and 59 deletions
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src/xml/xml_urdf.cc
+1 -1
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@@ -271,7 +271,7 @@ void mjXURDF::Body(XMLElement* body_elem) {
// lquat = rotation from specified to default (joint/body) inertial frame
double lquat[4] = {1, 0, 0, 0};
double tmpquat[4] = {1, 0, 0, 0};
const char* altres = mjs_setFullInertia(pbody, lquat, pbody->inertia);
const char* altres = mjs_fullInertia(lquat, pbody->inertia, pbody->fullinertia);
// inertia are sometimes 0 in URDF files: ignore error in altres, fix later
(void) altres;