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Add XML compiler/saveinertial flag. Fixes #2405

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PiperOrigin-RevId: 743607654
Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
This commit is contained in:
Yuval Tassa
2025-04-03 10:11:35 -07:00
committed by Copybara-Service
parent 8941f56e86
commit f96f3e1c22
11 changed files with 47 additions and 10 deletions
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doc/XMLreference.rst
+4
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@@ -832,6 +832,10 @@ has any effect. The settings here are global and apply to the entire model.
necessary to adjust this attribute and the geom-specific groups so as to exclude world geoms from the inertial
computation.
.. _compiler-saveinertial:
:at:`saveinertial`: :at-val:`[false, true], "false"`
If set to "true", the compiler will save explicit :ref:`inertial <body-inerital>` clauses for all bodies.
.. _compiler-lengthrange:
doc/XMLschema.rst
+1 -1
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@@ -54,7 +54,7 @@
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`discardvisual<compiler-discardvisual>` | :ref:`usethread<compiler-usethread>` | :ref:`fusestatic<compiler-fusestatic>` | :ref:`inertiafromgeom<compiler-inertiafromgeom>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
| | | | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`assetdir<compiler-assetdir>` | :ref:`alignfree<compiler-alignfree>` | | |
| | | | :ref:`inertiagrouprange<compiler-inertiagrouprange>` | :ref:`saveinertial<compiler-saveinertial>` | :ref:`assetdir<compiler-assetdir>` | :ref:`alignfree<compiler-alignfree>` | |
| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
| |_| compiler |br| |_| |L| | | .. table:: |
doc/changelog.rst
+3 -1
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@@ -15,7 +15,9 @@ Upcoming version (not yet released)
General
^^^^^^^
- Add :ref:`orientation<body-composite-quat>` parameter to :ref:`composite<body-composite>`. Moreover, allow the
- Added the :ref:`compiler/saveinertial<compiler-saveinertial>` flag, writing explicit inertial clauses for all
bodies when saving to XML.
- Added :ref:`orientation<body-composite-quat>` attribute to :ref:`composite<body-composite>`. Moreover, allow the
composite to be the direct child of a frame.
Bug fixes
doc/includes/references.h
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@@ -1736,6 +1736,7 @@ typedef struct mjsCompiler_ { // compiler options
mjtByte fusestatic; // fuse static bodies with parent
int inertiafromgeom; // use geom inertias (mjtInertiaFromGeom)
int inertiagrouprange[2]; // range of geom groups used to compute inertia
mjtByte saveinertial; // save explicit inertial clause for all bodies to XML
int alignfree; // align free joints with inertial frame
mjLROpt LRopt; // options for lengthrange computation
} mjsCompiler;