Update Solid and Shell plugins to use FlexComp.

PiperOrigin-RevId: 573755821 Change-Id: I3b8d7fb27f0e940038fa9fd2b26ecc746df4f7ac
2023-10-16 03:02:14 -07:00
parent 93d1c3c92e
commit 110ade1435
26 changed files with 1988 additions and 177 deletions
@@ -39,7 +39,6 @@
        <geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1" group="4"/>
        <plugin plugin="mujoco.elasticity.shell">
          <config key="poisson" value="0"/>
-          <config key="damping" value="0.001"/>
          <config key="thickness" value="1e-2"/>
          <!--Units are in Pa (SI)-->
          <config key="young" value="3e6"/>