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
@@ -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>