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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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src/user/user_init.c
+1
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@@ -42,6 +42,7 @@ void mjs_defaultSpec(mjSpec* spec) {
spec->compiler.usethread = 1;
spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
spec->compiler.inertiagrouprange[1] = mjNGROUP-1;
spec->compiler.saveinertial = 0;
mj_defaultLROpt(&spec->compiler.LRopt);
// engine data