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
@@ -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>