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
@@ -9137,6 +9137,11 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 ),
                 doc='range of geom groups used to compute inertia',
             ),
+             StructFieldDecl(
+                 name='saveinertial',
+                 type=ValueType(name='mjtByte'),
+                 doc='save explicit inertial clause for all bodies to XML',
+             ),
             StructFieldDecl(
                 name='alignfree',
                 type=ValueType(name='int'),