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Remove box, cylinder and ellipsoid composite types.

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Also, fix a bug with Flex textures that was causing an incorrect allocation of the textures in mjModel. Fixes #2013.

PiperOrigin-RevId: 692510858
Change-Id: If781716216974e085244da27bc3aa57d91c3458c
This commit is contained in:
Alessio Quaglino
2024-11-02 11:13:16 -07:00
committed by Copybara-Service
parent ebe60b9ad5
commit 831d9881d3
12 changed files with 54 additions and 547 deletions
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test/user/user_composite_test.cc
+1 -1
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@@ -43,7 +43,7 @@ TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
<worldbody>
<body>
<freejoint/>
<composite type="box" count="7 7 7" spacing="0.04">
<composite type="grid" count="7 7 1" spacing="0.04">
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
<joint kind="main" solreffix="0.03 1" solimpfix="0 .1 .01"/>
</composite>