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Add elasticity parameters to the schema.

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PiperOrigin-RevId: 675115200
Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
This commit is contained in:
Alessio Quaglino
2024-09-16 05:55:40 -07:00
committed by Copybara-Service
parent 015bdeb756
commit b15de2c951
17 changed files with 146 additions and 52 deletions
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model/plugin/elasticity/floppy_flex.xml
+2 -6
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@@ -34,12 +34,8 @@
<flexcomp type="grid" count="24 4 4" spacing=".1 .1 .1" pos=".1 0 1.5"
radius=".0" rgba="0 .7 .7 1" name="softbody" dim="3" mass="25">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0.2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="5e4"/>
<config key="damping" value="0.002"/>
</plugin>
<elasticity young="5e4" damping="0.002" poisson="0.2"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
<body>
model/plugin/elasticity/jelly_flex.xml
+2 -5
View File
@@ -46,11 +46,8 @@
radius=".005" rgba="0 .7 .7 1" mass="5" name="softbody">
<edge damping="1"/>
<contact selfcollide="none"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0"/>
<!--Units are in Pa (SI)-->
<config key="young" value="5e4"/>
</plugin>
<elasticity young="5e4"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
</worldbody>
</mujoco>
model/plugin/elasticity/press_flex.xml
+4 -10
View File
@@ -35,22 +35,16 @@
radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<edge damping="1"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0.4"/>
<!--Units are in Pa (SI)-->
<config key="young" value="1e4"/>
</plugin>
<elasticity young="1e4" poisson="0.4"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
<flexcomp name="B" type="grid" count="4 4 4" spacing=".2 .2 .2" pos="1 0 .5"
radius=".005" rgba="0 .7 .7 1" dim="3" mass="5">
<contact condim="3" solref="0.01 1" solimp=".95 .99 .0001" selfcollide="none"/>
<edge damping="1"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0"/>
<!--Units are in Pa (SI)-->
<config key="young" value="5e4"/>
</plugin>
<elasticity young="5e4" poisson="0"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
<body>
model/plugin/elasticity/trampoline_flex.xml
+2 -6
View File
@@ -44,13 +44,9 @@
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"/>
<pin id="0 15 240 255"/>
<plugin plugin="mujoco.elasticity.membrane">
<config key="poisson" value="0"/>
<config key="thickness" value="1e-2"/>
<!--Units are in Pa (SI)-->
<config key="young" value="3e5"/>
</plugin>
<plugin plugin="mujoco.elasticity.membrane"/>
</flexcomp>
</worldbody>
</mujoco>