Update Solid and Shell plugins to use FlexComp.
PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
93d1c3c92e
commit
110ade1435
+16
-1
@@ -3765,7 +3765,7 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
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.. _body-flexcomp-euler:
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.. _body-flexcomp-selfcollide:
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.. _body-flexcomp-group:
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.. _body-flexcomp-flatskin:
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@@ -3820,6 +3820,15 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
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.. _flex-contact-gap:
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.. _flexcomp-contact-gap:
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.. _flex-contact-internal:
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.. _flexcomp-contact-internal:
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.. _flex-contact-selfcollide:
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.. _flexcomp-contact-selfcollide:
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.. _flex-contact-activelayers:
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.. _flexcomp-contact-activelayers:
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.. _flexcomp-pin:
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.. _flexcomp-pin-id:
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@@ -3830,6 +3839,12 @@ Associate this composite with an :ref:`engine plugin<exPlugin>`. Either :at:`plu
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.. _flexcomp-pin-gridrange:
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.. _flexcomp-plugin:
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.. _flexcomp-plugin-plugin:
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.. _flexcomp-plugin-instance:
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.. _deformable:
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+27
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@@ -485,19 +485,19 @@
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| :ref:`flexcomp | \* | :class: mjcf-attributes |
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| <body-flexcomp>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<body-flexcomp-name>` | :ref:`class<body-flexcomp-class>` | :ref:`type<body-flexcomp-type>` | :ref:`dim<body-flexcomp-dim>` | |
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| | | | :ref:`name<body-flexcomp-name>` | :ref:`class<body-flexcomp-class>` | :ref:`type<body-flexcomp-type>` | :ref:`group<body-flexcomp-group>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`flatskin<body-flexcomp-flatskin>` | :ref:`count<body-flexcomp-count>` | :ref:`spacing<body-flexcomp-spacing>` | :ref:`radius<body-flexcomp-radius>` | |
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| | | | :ref:`dim<body-flexcomp-dim>` | :ref:`count<body-flexcomp-count>` | :ref:`spacing<body-flexcomp-spacing>` | :ref:`radius<body-flexcomp-radius>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`rigid<body-flexcomp-rigid>` | :ref:`mass<body-flexcomp-mass>` | :ref:`inertiabox<body-flexcomp-inertiabox>` | :ref:`scale<body-flexcomp-scale>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`file<body-flexcomp-file>` | :ref:`point<body-flexcomp-point>` | :ref:`element<body-flexcomp-element>` | :ref:`texcoord<body-flexcomp-texcoord>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`material<body-flexcomp-material>` | :ref:`rgba<body-flexcomp-rgba>` | :ref:`selfcollide<body-flexcomp-selfcollide>` | :ref:`flatskin<body-flexcomp-flatskin>` | |
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| | | | :ref:`material<body-flexcomp-material>` | :ref:`rgba<body-flexcomp-rgba>` | :ref:`flatskin<body-flexcomp-flatskin>` | :ref:`pos<body-flexcomp-pos>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`pos<body-flexcomp-pos>` | :ref:`quat<body-flexcomp-quat>` | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | |
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| | | | :ref:`quat<body-flexcomp-quat>` | :ref:`axisangle<body-flexcomp-axisangle>` | :ref:`xyaxes<body-flexcomp-xyaxes>` | :ref:`zaxis<body-flexcomp-zaxis>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`zaxis<body-flexcomp-zaxis>` | :ref:`euler<body-flexcomp-euler>` | | | |
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| | | | :ref:`euler<body-flexcomp-euler>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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@@ -517,7 +517,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`friction<flexcomp-contact-friction>` | :ref:`solmix<flexcomp-contact-solmix>` | :ref:`solref<flexcomp-contact-solref>` | :ref:`solimp<flexcomp-contact-solimp>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`margin<flexcomp-contact-margin>` | :ref:`gap<flexcomp-contact-gap>` | | | |
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| | | | :ref:`margin<flexcomp-contact-margin>` | :ref:`gap<flexcomp-contact-gap>` | :ref:`internal<flexcomp-contact-internal>` | :ref:`selfcollide<flexcomp-contact-selfcollide>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`activelayers<flexcomp-contact-activelayers>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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@@ -527,6 +529,20 @@
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| | | | :ref:`id<flexcomp-pin-id>` | :ref:`range<flexcomp-pin-range>` | :ref:`grid<flexcomp-pin-grid>` | :ref:`gridrange<flexcomp-pin-gridrange>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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| :ref:`plugin | \* | :class: mjcf-attributes |
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| <flexcomp-plugin>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`plugin<flexcomp-plugin-plugin>` | :ref:`instance<flexcomp-plugin-instance>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_3| plugin |br| |_3| |L| | | .. table:: |
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| :ref:`config | \* | :class: mjcf-attributes |
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| <plugin-config>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`key<plugin-config-key>` | :ref:`value<plugin-config-value>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| mujoco |br| |L| | | *no attributes* |
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| :ref:`deformable<deformable>` | | |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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@@ -536,9 +552,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`name<deformable-flex-name>` | :ref:`group<deformable-flex-group>` | :ref:`dim<deformable-flex-dim>` | :ref:`radius<deformable-flex-radius>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`material<deformable-flex-material>` | :ref:`rgba<deformable-flex-rgba>` | :ref:`flatskin<deformable-flex-flatskin>` | :ref:`selfcollide<deformable-flex-selfcollide>` | |
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| | | | :ref:`material<deformable-flex-material>` | :ref:`rgba<deformable-flex-rgba>` | :ref:`flatskin<deformable-flex-flatskin>` | :ref:`body<deformable-flex-body>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`body<deformable-flex-body>` | :ref:`vertex<deformable-flex-vertex>` | :ref:`element<deformable-flex-element>` | :ref:`texcoord<deformable-flex-texcoord>` | |
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| | | | :ref:`vertex<deformable-flex-vertex>` | :ref:`element<deformable-flex-element>` | :ref:`texcoord<deformable-flex-texcoord>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flex |br| |_2| |L| | | .. table:: |
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@@ -549,7 +565,9 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`friction<flex-contact-friction>` | :ref:`solmix<flex-contact-solmix>` | :ref:`solref<flex-contact-solref>` | :ref:`solimp<flex-contact-solimp>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`margin<flex-contact-margin>` | :ref:`gap<flex-contact-gap>` | | | |
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| | | | :ref:`margin<flex-contact-margin>` | :ref:`gap<flex-contact-gap>` | :ref:`internal<flex-contact-internal>` | :ref:`selfcollide<flex-contact-selfcollide>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`activelayers<flex-contact-activelayers>` | | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flex |br| |_2| |L| | | .. table:: |
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