Remove grid from composite types.

Replaced it with flexcomp in the models.

PiperOrigin-RevId: 730070619
Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393

src/xml/xml_native_reader.cc

@@ -2466,10 +2466,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault*
   // set type-specific defaults
   comp.SetDefault();
 
-  // parse smooth solver parameters after type-specific defaults are set
-  ReadAttr(elem, "solrefsmooth", mjNREF, comp.solrefsmooth, text, false, false);
-  ReadAttr(elem, "solimpsmooth", mjNIMP, comp.solimpsmooth, text, false, false);
-
   // geom
   XMLElement* egeom = FirstChildElement(elem, "geom");
   if (egeom) {
@@ -2601,21 +2597,6 @@ void mjXReader::OneComposite(XMLElement* elem, mjsBody* body, const mjsDefault*
     eten = NextSiblingElement(eten, "tendon");
   }
 
-  // pin
-  XMLElement* epin = FirstChildElement(elem, "pin");
-  while (epin) {
-    // read
-    int coord[2] = {0, 0};
-    ReadAttr(epin, "coord", 2, coord, text, true, false);
-
-    // insert 2 coordinates (2nd may be unused)
-    comp.pin.push_back(coord[0]);
-    comp.pin.push_back(coord[1]);
-
-    // advance
-    epin = NextSiblingElement(epin, "pin");
-  }
-
   // make composite
   char error[200];
   bool res = comp.Make(spec, body, error, 200);