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
@@ -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>