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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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test/plugin/elasticity/elasticity_test.cc
-17
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@@ -22,9 +22,7 @@
#include <gtest/gtest.h>
#include <mujoco/mujoco.h>
#include "test/fixture.h"
#include "plugin/elasticity/membrane.h"
#include "plugin/elasticity/shell.h"
#include "plugin/elasticity/solid.h"
namespace mujoco {
namespace {
@@ -35,17 +33,12 @@ using ElasticityTest = PluginTest;
TEST_F(ElasticityTest, FlexCompatibility) {
static constexpr char flex_xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.elasticity.solid"/>
</extension>
<worldbody>
<body name="parent">
<flexcomp name="soft" type="grid" count="3 3 3"
radius="0.01" dim="3"mass="1">
<pin id="2"/>
<elasticity young="5e4" poisson="0.2"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
</body>
</worldbody>
@@ -119,15 +112,10 @@ TEST_F(ElasticityTest, ElasticEnergyShell) {
TEST_F(PluginTest, ElasticEnergyMembrane) {
static constexpr char cantilever_xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.elasticity.membrane"/>
</extension>
<worldbody>
<flexcomp type="grid" count="8 8 1" spacing="1 1 1"
radius=".025" name="test" dim="2">
<elasticity young="2" poisson="0" thickness="1"/>
<plugin plugin="mujoco.elasticity.membrane"/>
<edge equality="false"/>
</flexcomp>
</worldbody>
@@ -200,15 +188,10 @@ TEST_F(ElasticityTest, InvalidThickness) {
TEST_F(ElasticityTest, ElasticEnergySolid) {
static constexpr char cantilever_xml[] = R"(
<mujoco>
<extension>
<plugin plugin="mujoco.elasticity.solid"/>
</extension>
<worldbody>
<flexcomp type="grid" count="8 8 8" spacing="1 1 1"
radius=".025" name="test" dim="3">
<elasticity young="2" poisson="0"/>
<plugin plugin="mujoco.elasticity.solid"/>
<edge equality="false"/>
</flexcomp>
</worldbody>