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- Added passive forces plugins

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- Added new `cable` composite type:
  * The `initial` parameter specifies the joint at the starting boundary: `free`, `ball`, or `none`.
  * The boundary bodies are exposed with the names:`B_left` and `B_right`.
  * The vertex initial positions can be specified directly in the XML with the parameter `vertex`.
  * The orientation of the body frame **is** the orientation of the material frame of the curve.

- Added new `cable` passive force plugin:
  * Twist and bending stiffness can be set separately with the parameters `twist` and `bend`.
  * The stress-free configuration can be set to be the initial one or flat with the flag `flat`.
  * New cable example showing the formation of plectoneme.
  * New coil example.
  * New belt example showing interaction between twist and anisotropy.
  * Added test using cantilever exact solution.

PiperOrigin-RevId: 480033694
Change-Id: I491271bce8fccb185961477e903e5a72d172c8a3
This commit is contained in:
Alessio Quaglino
2022-10-10 02:45:59 -07:00
committed by Copybara-Service
parent 794ef0b771
commit e250ff0d5a
34 changed files with 1564 additions and 72 deletions
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include/mujoco/mjxmacro.h
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@@ -171,6 +171,7 @@
X( mjtNum, body_inertia, nbody, 3 ) \
X( mjtNum, body_invweight0, nbody, 2 ) \
X( mjtNum, body_user, nbody, MJ_M(nuser_body) ) \
X( int, body_plugin, nbody, 1 ) \
X( int, jnt_type, njnt, 1 ) \
X( int, jnt_qposadr, njnt, 1 ) \
X( int, jnt_dofadr, njnt, 1 ) \
@@ -385,6 +386,7 @@
X( int, sensor_plugin, nsensor, 1 ) \
X( int, plugin, nplugin, 1 ) \
X( int, plugin_stateadr, nplugin, 1 ) \
X( int, plugin_statenum, nplugin, 1 ) \
X( char, plugin_attr, npluginattr, 1 ) \
X( int, plugin_attradr, nplugin, 1 ) \
X( int, numeric_adr, nnumeric, 1 ) \