- Added passive forces plugins

- 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

									
										introspect/enums.py
									
		+1
		
												View File
												
				@@ -415,6 +415,7 @@ ENUMS: Mapping[str, EnumDecl] = dict([

				         values=dict([

				             ('mjPLUGIN_ACTUATOR', 1),

				             ('mjPLUGIN_SENSOR', 2),

				             ('mjPLUGIN_PASSIVE', 4),

				         ]),

				     )),

				    ('mjtGridPos',