chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 10 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
test/plugin/elasticity/elasticity_test.cc
+6 -13
View File
@@ -44,10 +44,8 @@ TEST_F(ElasticityTest, FlexCompatibility) {
<flexcomp name="soft" type="grid" count="3 3 3"
radius="0.01" dim="3"mass="1">
<pin id="2"/>
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0.2"/>
<config key="young" value="5e4"/>
</plugin>
<elasticity young="5e4" poisson="0.2"/>
<plugin plugin="mujoco.elasticity.solid"/>
</flexcomp>
</body>
</worldbody>
@@ -128,11 +126,8 @@ TEST_F(PluginTest, ElasticEnergyMembrane) {
<worldbody>
<flexcomp type="grid" count="8 8 1" spacing="1 1 1"
radius=".025" name="test" dim="2">
<plugin plugin="mujoco.elasticity.membrane">
<config key="poisson" value="0"/>
<config key="young" value="2"/>
<config key="thickness" value="1"/>
</plugin>
<elasticity young="2" poisson="0" thickness="1"/>
<plugin plugin="mujoco.elasticity.membrane"/>
<edge equality="false"/>
</flexcomp>
</worldbody>
@@ -214,10 +209,8 @@ TEST_F(ElasticityTest, ElasticEnergySolid) {
<worldbody>
<flexcomp type="grid" count="8 8 8" spacing="1 1 1"
radius=".025" name="test" dim="3">
<plugin plugin="mujoco.elasticity.solid">
<config key="poisson" value="0"/>
<config key="young" value="2"/>
</plugin>
<elasticity young="2" poisson="0"/>
<plugin plugin="mujoco.elasticity.solid"/>
<edge equality="false"/>
</flexcomp>
</worldbody>