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

PiperOrigin-RevId: 676434954 Change-Id: I24e8dbaa90afcffd613a9cf106ef8b7262195328
2024-09-19 09:00:13 -07:00
parent 6c7e1095c5
commit 4998e7b392
26 changed files with 88 additions and 618 deletions
@@ -30,20 +30,3 @@ Parameters:
   - `young` [Pa]: Young's modulus.
   - `poisson` [Pa]: Poisson's ratio; if 0, then the material only opposed shear deformations; if near 0.5, then the material is nearly incompressible (rubber-like).
   - `thickness` [m]: shell thickness, used to scale the bending stiffness.
-
-### Membrane
-
-Implemented in [membrane.cc](membrane.cc).
-
-The membrane plugin discretized an extensible 2D continuum. It is intended to simulate the stretching of membranes subjected to tensile stresses, where the bending is negligible.
-
-Parameters: see [flex parameters](mujoco.readthedocs.io/en/latest/XMLreference.html#flexcomp-elasticity) in the XML Reference docs.
-
-### Solid
-
-Implemented in [solid.cc](solid.cc).
-
-The membrane plugin discretized an extensible 3D continuum. It is Saint Venant–Kirchhoff model intended to simulate the compression or elongation of hyperelastic materials subjected to large displacements (finite rotations) and small strains, since it uses a nonlinear strain-displacement but a linear stress-strain relationship.
-
-Parameters: see [flex parameters](mujoco.readthedocs.io/en/latest/XMLreference.html#flexcomp-elasticity) in the XML Reference docs.
-