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Add flex and elasticity documentation. Fixes #873.

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PiperOrigin-RevId: 574179040
Change-Id: Iaf90bbf2b2c3fe075c940c2b66b7b841f256e653
This commit is contained in:
Alessio Quaglino
2023-10-17 09:44:58 -07:00
committed by Copybara-Service
parent db067a3b94
commit 139a8ae298
11 changed files with 825 additions and 375 deletions
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model/plugin/elasticity/mannequin.xml
+4 -1
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@@ -38,7 +38,7 @@
<default class="body">
<!-- geoms -->
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".015 1" material="body"/>
<geom type="capsule" condim="1" friction=".7" solimp=".9 .99 .003" solref=".003 1" material="body"/>
<default class="thigh">
<geom size=".06"/>
</default>
@@ -116,6 +116,9 @@
<geom name="head" type="sphere" size=".09"/>
<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>
<body name="neck">
<geom type="cylinder" size=".03" fromto="0 0 .07 0 0 .1"/>
</body>
<body name="waist_lower" pos="-.01 0 -.26">
<geom name="waist_lower" fromto="0 -.06 0 0 .06 0" size=".06"/>
<body name="pelvis" pos="0 0 -.165">