Add quadratic stiffness to flex.

PiperOrigin-RevId: 827409919 Change-Id: I3dff8ea49fb1726fec4acf5b91138d6d52c4bfba
2025-11-03 03:00:18 -08:00
parent d4f13b4abc
commit 3a7aa84e53
10 changed files with 161 additions and 65 deletions
@@ -13,12 +13,10 @@
     limitations under the License.
 -->

-<mujoco model="Trilinear">
+<mujoco model="Quadratic">
  <include file="scene.xml"/>

-  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast">
-    <flag gravity="disable"/>
-  </option>
+  <option solver="CG" tolerance="1e-6" timestep=".001" integrator="implicitfast"/>

  <size memory="10M"/>

@@ -33,6 +31,7 @@
    </body>
    <flexcomp type="grid" count="8 8 8" spacing=".07 .07 .07" pos="0 0 1" dim="3"
              radius=".001" rgba="0 .7 .7 1" mass="5" name="softbody" dof="quadratic">
+      <elasticity young="1e4" poisson="0.1" damping="0.0001"/>
      <contact selfcollide="none" internal="false"/>
    </flexcomp>
  </worldbody>