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
@@ -2723,9 +2723,6 @@ void mjXReader::OneFlexcomp(XMLElement* elem, mjsBody* body, const mjVFS* vfs) {
    ReadAttr(elasticity, "damping", 1, &dflex.damping, text);
    ReadAttr(elasticity, "thickness", 1, &dflex.thickness, text);
    MapValue(elasticity, "elastic2d", &dflex.elastic2d, elastic2d_map, 4);
-    if (fcomp.doftype == mjFCOMPDOF_QUADRATIC) {
-      throw mjXError(elasticity, "elasticity is not yet supported for quadratic flex");
-    }
  }

  // check errors