Add XML compiler/saveinertial flag. Fixes #2405

PiperOrigin-RevId: 743607654 Change-Id: I1f2e61be89b79c1995e079f36aa285096f9fb441
2025-04-03 10:11:35 -07:00
parent 8941f56e86
commit f96f3e1c22
11 changed files with 47 additions and 10 deletions
@@ -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: