Remove grid from composite types.
Replaced it with flexcomp in the models. PiperOrigin-RevId: 730070619 Change-Id: Icbc69e4c6784c6252743f689a1eafb6482d0c393
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
b90ff3f0b1
commit
0fcd20f0da
+11
-12
@@ -22,7 +22,7 @@
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Simple humanoid on a hammock, implemented as a 2D grid composite, pinned at the corners.
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-->
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<option timestep="0.005" solver="CG" iterations="30" tolerance="1e-6"/>
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<option timestep="0.001" solver="CG" iterations="30" tolerance="1e-6"/>
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<size memory="20M"/>
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@@ -41,23 +41,22 @@
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width="512" height="512" mark="edge" markrgb=".8 .8 .8"/>
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<material name="plane" reflectance="0.3" texture="plane" texrepeat="1 1" texuniform="true"/>
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<material name="hammock" texture="hammock"/>
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<model name="humanoid" file="humanoid_body.xml"/>
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</asset>
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<include file="humanoid_body.xml"/>
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<worldbody>
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<geom name="floor" pos="0 0 -1" size="0 0 .25" type="plane" material="plane" condim="3"/>
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<light directional="true" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
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<light directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4" dir="0 0 -1"/>
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<composite type="grid" count="11 9 1" spacing="0.2" offset="0. 0. 0">
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<skin texcoord="true" material="hammock" inflate="0.01" subgrid="3"/>
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<pin coord="0 0"/>
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<pin coord="10 0"/>
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<pin coord="0 8"/>
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<pin coord="10 8"/>
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<geom size=".095"/>
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<joint kind="main" damping="10"/>
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</composite>
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<flexcomp name="hammock" type="grid" count="11 9 1" spacing="0.2 0.2 0.2" material="hammock"
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radius="0.04" dim="2">
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<pin id="0 8 90 98"/>
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<edge equality="true" damping="10" solimp=".95 .99"/>
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<contact selfcollide="none" internal="false" solimp=".99 .999 .00001"/>
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</flexcomp>
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<frame euler="0 180 0" pos="-.4 -.2 2">
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<attach model="humanoid" body="torso" prefix="humanoid_"/>
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</frame>
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</worldbody>
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</mujoco>
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Vendored
+52
-10
@@ -26,17 +26,59 @@
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<joint limited="true" range="-45 45"/>
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<geom type="box" size=".5 .5 .1"/>
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</body>
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<body pos="1 -1 .6">
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<composite prefix="B0" type="grid" count="4 4 1" spacing=".2">
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<geom group="4" size=".1"/>
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<skin rgba="1 1 0 1" group="2" inflate=".1"/>
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</composite>
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<body pos="1 -1 .6" name="B0_parent">
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<flexcomp name="B0" type="grid" count="4 4 1" spacing=".2 .2 .2" group="4" radius=".1" dim="2">
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<edge equality="true"/>
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<contact internal="false" selfcollide="none"/>
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</flexcomp>
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</body>
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<body pos="-1 1 .6">
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<composite prefix="B1" type="grid" count="4 4 1" spacing=".2">
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<geom group="2" size=".1"/>
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<skin rgba="0 1 1 1" group="4" inflate=".1"/>
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</composite>
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<body pos="-1 1 .6" name="B1_parent">
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<flexcomp name="B1" type="grid" count="4 4 1" spacing=".2 .2 .2" group="2" radius=".1" dim="2">
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<edge equality="true"/>
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<contact internal="false" selfcollide="none"/>
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</flexcomp>
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</body>
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</worldbody>
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<deformable>
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<skin name="B0Skin" group="2" rgba="1 1 0 1" inflate="0.1"
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vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
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face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8 12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18 22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29 28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8 28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1 2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
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<bone body="B0_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
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<bone body="B0_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
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<bone body="B0_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
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<bone body="B0_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
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<bone body="B0_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
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<bone body="B0_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
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<bone body="B0_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
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<bone body="B0_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
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<bone body="B0_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
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<bone body="B0_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
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<bone body="B0_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
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<bone body="B0_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
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<bone body="B0_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
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<bone body="B0_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
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<bone body="B0_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
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<bone body="B0_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
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</skin>
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<skin name="B1Skin" group="4" rgba="0 1 1 1" inflate="0.1"
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vertex="0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0"
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face="0 4 5 0 5 1 1 5 6 1 6 2 2 6 7 2 7 3 4 8 9 4 9 5 5 9 10 5 10 6 6 10 11 6 11 7 8 12 13 8 13 9 9 13 14 9 14 10 10 14 15 10 15 11 16 21 20 16 17 21 17 22 21 17 18 22 18 23 22 18 19 23 20 25 24 20 21 25 21 26 25 21 22 26 22 27 26 22 23 27 24 29 28 24 25 29 25 30 29 25 26 30 26 31 30 26 27 31 0 20 4 0 16 20 4 24 8 4 20 24 8 28 12 8 24 28 3 7 23 3 23 19 7 11 27 7 27 23 11 15 31 11 31 27 0 1 17 0 17 16 1 2 18 1 18 17 2 3 19 2 19 18 12 29 13 12 28 29 13 30 14 13 29 30 14 31 15 14 30 31">
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<bone body="B1_0" bindpos="0 0 0" bindquat="1 0 0 0" vertid="0 16" vertweight="1 1"/>
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<bone body="B1_1" bindpos="0 0 0" bindquat="1 0 0 0" vertid="1 17" vertweight="1 1"/>
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<bone body="B1_2" bindpos="0 0 0" bindquat="1 0 0 0" vertid="2 18" vertweight="1 1"/>
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<bone body="B1_3" bindpos="0 0 0" bindquat="1 0 0 0" vertid="3 19" vertweight="1 1"/>
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<bone body="B1_4" bindpos="0 0 0" bindquat="1 0 0 0" vertid="4 20" vertweight="1 1"/>
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<bone body="B1_5" bindpos="0 0 0" bindquat="1 0 0 0" vertid="5 21" vertweight="1 1"/>
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<bone body="B1_6" bindpos="0 0 0" bindquat="1 0 0 0" vertid="6 22" vertweight="1 1"/>
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<bone body="B1_7" bindpos="0 0 0" bindquat="1 0 0 0" vertid="7 23" vertweight="1 1"/>
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<bone body="B1_8" bindpos="0 0 0" bindquat="1 0 0 0" vertid="8 24" vertweight="1 1"/>
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<bone body="B1_9" bindpos="0 0 0" bindquat="1 0 0 0" vertid="9 25" vertweight="1 1"/>
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<bone body="B1_10" bindpos="0 0 0" bindquat="1 0 0 0" vertid="10 26" vertweight="1 1"/>
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<bone body="B1_11" bindpos="0 0 0" bindquat="1 0 0 0" vertid="11 27" vertweight="1 1"/>
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<bone body="B1_12" bindpos="0 0 0" bindquat="1 0 0 0" vertid="12 28" vertweight="1 1"/>
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<bone body="B1_13" bindpos="0 0 0" bindquat="1 0 0 0" vertid="13 29" vertweight="1 1"/>
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<bone body="B1_14" bindpos="0 0 0" bindquat="1 0 0 0" vertid="14 30" vertweight="1 1"/>
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<bone body="B1_15" bindpos="0 0 0" bindquat="1 0 0 0" vertid="15 31" vertweight="1 1"/>
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</skin>
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</deformable>
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</mujoco>
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