Add flex elasticity stiffness matrix to mjModel.

PiperOrigin-RevId: 675101645 Change-Id: Ic169c108b9eece3657ea4ec211df357abe615b7e
2024-09-16 04:59:55 -07:00
parent c77babe046
commit 2da15cf137
12 changed files with 71 additions and 29 deletions
@@ -2449,6 +2449,13 @@ STRUCTS: Mapping[str, StructDecl] = dict([
                 ),
                 doc='radius around primitive element          (nflex x 1)',
             ),
+             StructFieldDecl(
+                 name='flex_stiffness',
+                 type=PointerType(
+                     inner_type=ValueType(name='mjtNum'),
+                 ),
+                 doc='finite element stiffness matrix          (nflexelem x 21)',  # pylint: disable=line-too-long
+             ),
             StructFieldDecl(
                 name='flex_edgestiffness',
                 type=PointerType(