Move bending stiffness from plugin to the compiler.

PiperOrigin-RevId: 758677644 Change-Id: I7d5c5140ba6948002bfa4ae9d6b4bf0f6de0e39b
2025-05-14 07:38:25 -07:00
parent d8bebdc675
commit 71bdd915f7
23 changed files with 134 additions and 154 deletions
@@ -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>