Add inner radius as a parameter for the sdf gear plugin.

PiperOrigin-RevId: 578789045 Change-Id: Id69418d6b1adcce404927de4ed68c94a5ec1f66f
2023-11-02 03:01:34 -07:00
parent 3c0a56c1e5
commit e6dc5ed176
2 changed files with 10 additions and 7 deletions
@@ -16,7 +16,6 @@
 #define MUJOCO_PLUGIN_SDF_GEAR_H_

 #include <optional>
-#include <vector>

 #include <mujoco/mjdata.h>
 #include <mujoco/mjmodel.h>
@@ -27,10 +26,11 @@
 namespace mujoco::plugin::sdf {

 struct GearAttribute {
-  static constexpr int nattribute = 4;
+  static constexpr int nattribute = 5;
  static constexpr char const* names[nattribute] = {"alpha", "diameter",
-                                                    "teeth", "thickness"};
-  static constexpr mjtNum defaults[nattribute] = { 0, 2.8, 25, .2 };
+                                                    "teeth", "thickness",
+                                                    "innerdiameter"};
+  static constexpr mjtNum defaults[nattribute] = { 0, 2.8, 25, .2 , -1};
 };

 class Gear {