chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move bending stiffness from plugin to the compiler.

Browse Source 
PiperOrigin-RevId: 758677644
Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
This commit is contained in:
Alessio Quaglino
2025-05-14 07:38:25 -07:00
committed by Copybara-Service
parent d8bebdc675
commit 71bdd915f7
23 changed files with 134 additions and 154 deletions
Download Patch File Download Diff File Expand all files Collapse all files
model/flex/trampoline.xml
+1 -1
View File
@@ -39,7 +39,7 @@
radius=".001" mass="10" name="plate" dim="2">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
<edge equality="false" damping="10"/>
<elasticity young="3e5" poisson="0" thickness="1e-2"/>
<elasticity young="3e5" poisson="0" thickness="1e-2" elastic2d="2"/>
<pin id="0 15 240 255"/>
</flexcomp>
</worldbody>
model/plugin/elasticity/flag_flex.xml
+2 -6
View File
@@ -37,12 +37,8 @@
<flexcomp type="grid" count="9 19 1" spacing=".05 .05 .05" mass="10"
name="flag" radius="0.001">
<edge equality="true" damping="0.001"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e6"/>
</plugin>
<elasticity poisson="0" thickness="1e-2" young="3e6"/>
<plugin plugin="mujoco.elasticity.shell"/>
</flexcomp>
</body>
</worldbody>
model/plugin/elasticity/pancake_flex.xml
+1 -6
View File
@@ -39,12 +39,7 @@
radius=".01" mass=".5" name="plate" dim="2">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
<edge equality="true" damping="10"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="8e-3"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e5"/>
</plugin>
<elasticity poisson="0" thickness="8e-3" young="3e5"/>
</flexcomp>
</worldbody>
</mujoco>
model/plugin/elasticity/plate_flex.xml
+2 -6
View File
@@ -42,12 +42,8 @@
radius=".001" mass="100" name="plate">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
<edge equality="true" damping="0.001"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e7"/>
</plugin>
<elasticity poisson="0" thickness="1e-2" young="3e7"/>
<plugin plugin="mujoco.elasticity.shell"/>
</flexcomp>
</worldbody>
</mujoco>
model/plugin/elasticity/poncho_flex.xml
+2 -6
View File
@@ -1418,13 +1418,9 @@
398 399 418
398 376 378">
<edge equality="true" damping="0.1"/>
<elasticity young="3e5" poisson="0" thickness="8e-3"/>
<contact solref="0.003"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="8e-3"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e5"/>
</plugin>
<plugin plugin="mujoco.elasticity.shell"/>
</flexcomp>
</worldbody>
model/plugin/elasticity/poncho_vertcollide.xml
+2 -6
View File
@@ -1418,13 +1418,9 @@
398 399 418
398 376 378">
<edge equality="true" damping="0.1"/>
<elasticity poisson="0.3" young="3e5" thickness="8e-3"/>
<contact solref="0.003" contype="0" conaffinity="0" vertcollide="true"/>
<plugin plugin="mujoco.elasticity.shell">
<config key="poisson" value="0"/>
<config key="thickness" value="8e-3"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e5"/>
</plugin>
<plugin plugin="mujoco.elasticity.shell"/>
</flexcomp>
</worldbody>