Add elasticity parameters to the schema.

PiperOrigin-RevId: 675115200 Change-Id: Ic6608ce61cbb857dca71b3d9cbdac057e8f1ac7a
2024-09-16 05:55:40 -07:00
parent 015bdeb756
commit b15de2c951
17 changed files with 146 additions and 52 deletions
@@ -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>