*** Reason for rollback ***
breakage resulting in "inertia must have positive eigenvalues" when parsing URDF's
*** Original change description ***
Move fullinertia from mjCAlternative to mjCBody.
***
PiperOrigin-RevId: 604677400
Change-Id: Iab8263b5b0aee310bd75404e314f3b707ce3300e
- Applies to [orientation specifiers](https://mujoco.readthedocs.io/en/latest/modeling.html#frame-orientations) in `body`, `inertial`, `geom`, `site`, `camera`.
- Before this change the check was done only for multiple *alternative* specifiers, but not for `quat` and an alternative specifier.
- Moved the check from the compiler to the parser.
- Added tests.
PiperOrigin-RevId: 453201981
Change-Id: I20907361f211dae904e734cd083e9df0efe4f654
Yuval Tassa