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  <a href="#"><img alt="MuJoCo" src="../../banner.png" width="100%"/></a>
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-## Elasticity plugins
+## 弹性插件（Elasticity plugins）

-These are first-party plugins that implement passive forces based on discretized continuum mechanics models. They can be applied to **flexes** and **bodies** (via the **composite** functionality). Sample models can be found in [this folder](../../model/plugin/elasticity/).
+这些是第一方插件，基于离散连续介质力学模型实现被动力。它们可以应用于 **flexes**（柔性体）和 **bodies**（刚体，通过 **composite** 复合体功能）。示例模型可在[此文件夹](../../model/plugin/elasticity/)中找到。

-### Cable
+### 缆绳（Cable）

-Implemented in [cable.cc](cable.cc).
+在 [cable.cc](cable.cc) 中实现。

-The cable plugin discretizes an inextensible 1D continuum. It is intended to simulate the twist and bending of rods where the stretching in negligible compared to the other deformation modes.
+缆绳插件离散化了一个不可伸长的一维连续介质。它旨在模拟细杆的扭转和弯曲，在这些场景下拉伸形变与其他形变模式相比可以忽略不计。

-Parameters:
+参数：

-   - `twist` [Pa]: twisting stiffness.
-   - `bend` [Pa]: bending stiffness.
-   - `flat` [bool]: if true, the stress-equilibrium configuration is that of a straight cable; if false or unspecified, it is the configuration defined in the XML.
-   - `vmax` [N/m^2]: If greater than zero, the cable is colored using mechanical stresses; the value represent the maximum stress in the color scale.
+   - `twist` [Pa]：扭转刚度。
+   - `bend` [Pa]：弯曲刚度。
+   - `flat` [bool]：若为 true，应力平衡构型为直缆状态；若为 false 或未指定，则为 XML 中定义的初始构型。
+   - `vmax` [N/m^2]：若大于零，缆绳将根据机械应力着色；该值代表颜色标尺中的最大应力。