Add elasticity parameters to the schema.

PiperOrigin-RevId: 675115200 Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:55:40 -07:00
parent 015bdeb756
commit b15de2c951
17 changed files with 146 additions and 52 deletions
@@ -222,7 +222,7 @@ void Solid::RegisterPlugin() {
  plugin.name = "mujoco.elasticity.solid";
  plugin.capabilityflags |= mjPLUGIN_PASSIVE;

-  const char* attributes[] = {"face", "edge", "young", "poisson", "damping"};
+  const char* attributes[] = {"face", "edge", "young", "poisson", "damping", "thickness"};
  plugin.nattribute = sizeof(attributes) / sizeof(attributes[0]);
  plugin.attributes = attributes;
  plugin.nstate = +[](const mjModel* m, int instance) { return 0; };