Add elasticity parameters to the schema.
PiperOrigin-RevId: 675115200 Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
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Alessio Quaglino
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Copybara-Service
Copybara-Service
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b15de2c951
@@ -3746,6 +3746,23 @@ element is used to adjust the properties of all edges in the flex.
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Edge stiffness and damping, passed through to the automatically generated flex.
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.. _flexcomp-elasticity:
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:el-prefix:`flexcomp/` |-| **elasticity** (*)
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'''''''''''''''''''''''''''''''''''''''''''''
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.. _flexcomp-elasticity-young:
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.. _flexcomp-elasticity-poisson:
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.. _flexcomp-elasticity-damping:
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.. _flexcomp-elasticity-thickness:
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.. |body/flexcomp/elasticity attrib list| replace::
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:at:`young`, :at:`poisson`, :at:`damping`, :at:`thickness`
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|body/flexcomp/elasticity attrib list|
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Same as in :ref:`flex/elasticity<flex-elasticity>`.
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All attributes are passed through to the automatically-generated flex.
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.. _flexcomp-pin:
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:el-prefix:`flexcomp/` |-| **pin** (*)
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@@ -4131,6 +4148,39 @@ these mechanisms to be combined as desired.
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:at:`damping`: :at-val:`real(1), "0"`
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Damping of all edges.
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.. _flex-elasticity:
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:el-prefix:`flex/` |-| **elasticity** (?)
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'''''''''''''''''''''''''''''''''''''''''
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.. _flex-elasticity-young:
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:at:`young`: :at-val:`real(1), "0"`
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Young's elastic modulus, a measure of tensile and compressive stiffness for continuum elastic materials.
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Units of :math:`\textrm{pressure}=\textrm{force}/\textrm{area}`.
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.. _flex-elasticity-poisson:
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:at:`poisson`: :at-val:`real(1), "0"`
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Poisson's ratio, the ratio of transverse deformation to applied longitudinal strain.
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This unitless quantity is in the range :math:`[0, 0.5)`.
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Small or large values imply compressibility or incompressiblity, respectively.
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.. _flex-elasticity-damping:
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:at:`damping`: :at-val:`real(1), "0"`
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Rayleigh's damping coefficient, units of time.
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This quantity scales the stiffness defined by Young's modulus to produce the damping matrix.
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.. _flex-elasticity-thickness:
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:at:`thickness`: :at-val:`real(1), "-1"`
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Shell thickness, units of length; only for used 2D flexes. Used to scale the stretching stiffness.
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This thickness can be set equal to 2 times the :ref:`radius <deformable-flex-radius>` in order to match the geometry,
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but is exposed seperately since the radius might be constrained by considerations related to collision detection.
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.. _flex-contact:
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:el-prefix:`flex/` |-| **contact** (?)
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@@ -514,6 +514,13 @@
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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| :ref:`elasticity | ? | :class: mjcf-attributes |
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| <flexcomp-elasticity>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`young<flexcomp-elasticity-young>` | :ref:`poisson<flexcomp-elasticity-poisson>` | :ref:`damping<flexcomp-elasticity-damping>` | :ref:`thickness<flexcomp-elasticity-thickness>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flexcomp |br| |_2| |L| | | .. table:: |
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| :ref:`contact | ? | :class: mjcf-attributes |
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| <flexcomp-contact>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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@@ -581,6 +588,13 @@
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| | | | :ref:`stiffness<flex-edge-stiffness>` | :ref:`damping<flex-edge-damping>` | | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_2| flex |br| |_2| |L| | | .. table:: |
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| :ref:`elasticity | ? | :class: mjcf-attributes |
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| <flex-elasticity>` | | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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| | | | :ref:`young<flex-elasticity-young>` | :ref:`poisson<flex-elasticity-poisson>` | :ref:`damping<flex-elasticity-damping>` | :ref:`thickness<flex-elasticity-thickness>` | |
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| | | +-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+-----------------------------------------------------------------+ |
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+------------------------------------+----+------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------+
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| |_| deformable |br| |_| |L| | | .. table:: |
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| :ref:`skin | \* | :class: mjcf-attributes |
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| <deformable-skin>` | | |
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@@ -1961,6 +1961,10 @@ typedef struct mjsFlex_ { // flex specification
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double edgedamping; // edge damping
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float rgba[4]; // rgba when material is omitted
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mjString* material; // name of material used for rendering
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double young; // Young's modulus
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double poisson; // Poisson's ratio
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double damping; // Rayleigh's damping
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double thickness; // thickness (2D only)
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// mesh properties
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mjStringVec* vertbody; // vertex body names
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