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
@@ -138,6 +138,7 @@ 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;