chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add elasticity parameters to the schema.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
plugin/elasticity/README.md
+2 -9
View File
@@ -37,11 +37,7 @@ Implemented in [membrane.cc](membrane.cc).
The membrane plugin discretized an extensible 2D continuum. It is intended to simulate the stretching of membranes subjected to tensile stresses, where the bending is negligible.
Parameters:
- `young` [Pa]: Young's modulus.
- `poisson` [Pa]: Poisson's ratio; if 0, then the material only opposed shear deformations; if near 0.5, then the material is nearly incompressible (rubber-like).
- `thickness` [m]: shell thickness, used to scale the stretching stiffness.
Parameters: see [flex parameters](mujoco.readthedocs.io/en/latest/XMLreference.html#flexcomp-elasticity) in the XML Reference docs.
### Solid
@@ -49,8 +45,5 @@ Implemented in [solid.cc](solid.cc).
The membrane plugin discretized an extensible 3D continuum. It is Saint Venant–Kirchhoff model intended to simulate the compression or elongation of hyperelastic materials subjected to large displacements (finite rotations) and small strains, since it uses a nonlinear strain-displacement but a linear stress-strain relationship.
Parameters:
Parameters: see [flex parameters](mujoco.readthedocs.io/en/latest/XMLreference.html#flexcomp-elasticity) in the XML Reference docs.
- `young` [Pa]: Young's modulus.
- `poisson` [Pa]: Poisson's ratio; if 0, then the material only opposed shear deformations; if near 0.5, then the material is nearly incompressible (rubber-like).
- `damping` [Ns/m^2]: damping coefficient for Rayleigh damping.