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Move flex damping to the engine and remove membrane and solid plugins.

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PiperOrigin-RevId: 676434954
Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
This commit is contained in:
Alessio Quaglino
2024-09-19 09:00:13 -07:00
committed by Copybara-Service
parent 6c7e1095c5
commit 4998e7b392
26 changed files with 88 additions and 618 deletions
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doc/programming/extension.rst
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@@ -274,12 +274,11 @@ There are several first-party plugin directories:
`README <https://github.com/google-deepmind/mujoco/blob/main/plugin/actuator/README.md>`__ for details.
* **elasticity:** The plugins in the `elasticity/
<https://github.com/google-deepmind/mujoco/tree/main/plugin/elasticity>`__ directory are passive forces based on
continuum mechanics for 1-dimensional and 3-dimensional bodies. The 1D model is invariant under rotations and captures
the large deformation of elastic cables, decoupling twisting and bending strains. The 3D solid is a `Saint
Venant-Kirchhoff <https://en.wikipedia.org/wiki/Hyperelastic_material#Saint_Venant%E2%80%93Kirchhoff_model>`__ model
discretized with piecewise linear finite elements, which is suitable for large deformations with small strains. See
also :ref:`composite <CComposite>` and :ref:`deformable <CDeformable>` objects. For more information, please see the
`README <https://github.com/google-deepmind/mujoco/blob/main/plugin/elasticity/README.md>`__.
continuum mechanics for 1-dimensional and 2-dimensional bodies. The 1D model is invariant under rotations and captures
the large deformation of elastic cables, decoupling twisting and bending strains. The 2D model is a suitable for
computing the bending stiffness of thin elastic plates (i.e. shells having a flat stress-free configuration). In this
case, the elastic energy is quadratic and therefore the stiffness matrix is constant. For more information, please see
the `README <https://github.com/google-deepmind/mujoco/blob/main/plugin/elasticity/README.md>`__.
* **sensor:** The plugins in the `sensor/ <https://github.com/google-deepmind/mujoco/tree/main/plugin/sensor>`__
directory implement custom sensors. Currently the sole sensor plugin is the touch grid sensor, see the
`README <https://github.com/google-deepmind/mujoco/blob/main/plugin/sensor/README.md>`__ for details.