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
@@ -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>