From a90803d64395167e521722205487d56bf7c44e83 Mon Sep 17 00:00:00 2001
From: Kevin Zakka <zakka@google.com>
Date: Wed, 24 Aug 2022 16:08:12 -0700
Subject: [PATCH] "exactmeshinertia" is now only saved if its value is
 different than default.

PiperOrigin-RevId: 469848032
Change-Id: I9abdeccbf764f5e4267753c0e2bfdd42b3bec723
---
 src/xml/xml_native_writer.cc | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/xml/xml_native_writer.cc b/src/xml/xml_native_writer.cc
index 9f7245a4..59728467 100644
--- a/src/xml/xml_native_writer.cc
+++ b/src/xml/xml_native_writer.cc
@@ -690,7 +690,9 @@ void mjXWriter::Compiler(XMLElement* root) {
   if (!model->usethread) {
     WriteAttrTxt(section, "usethread", "false");
   }
-  WriteAttrTxt(section, "exactmeshinertia", FindValue(bool_map, 2, model->exactmeshinertia));
+  if (model->exactmeshinertia) {
+    WriteAttrTxt(section, "exactmeshinertia", "true");
+  }
 }