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Remove the particle composite (replaced by replicate).

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PiperOrigin-RevId: 730089997
Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
This commit is contained in:
Alessio Quaglino
2025-02-23 03:13:20 -08:00
committed by Copybara-Service
parent 0fcd20f0da
commit c52d1b3941
20 changed files with 164 additions and 527 deletions
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model/adhesion/active_adhesion.xml
+12 -3
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@@ -94,9 +94,18 @@
<site name="pin_right" pos=".025 0 .025"/>
</body>
<composite type="particle" count="4 4 4" spacing="0.025" offset=".11 .01 .1">
<geom size=".012" rgba=".5 .8 .5 1" solref=".005 1"/>
</composite>
<replicate count="4" offset=".025 0 0">
<replicate count="4" offset="0 .025 0">
<replicate count="4" offset="0 0 .025">
<body pos=".06 -.04 .05">
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="slide" axis="0 0 1"/>
<geom type="sphere" size=".012" rgba=".5 .8 .5 1" solref=".005 1" condim="1"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
<equality>
model/composite/asset/carpet.png
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model/composite/particle.xml
-45
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@@ -1,45 +0,0 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Particle">
<!-- Degree of Freedom: 3000
Actuators: 0
-->
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6" timestep=".01"/>
<size memory="1G"/>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<composite type="particle" count="10 10 10" spacing="0.07" offset="0 0 1">
<geom size=".025" rgba=".8 .2 .1 1"/>
</composite>
</worldbody>
</mujoco>
model/composite/asset/marble.png → model/replicate/asset/marble.png
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model/replicate/particle.xml
+40 -9
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@@ -1,20 +1,51 @@
<!-- Copyright 2021 DeepMind Technologies Limited
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->
<mujoco model="Particle">
<include file="container.xml"/>
<size memory="1G"/>
<!-- Degree of Freedom: 3000
Actuators: 0
-->
<include file="scene.xml"/>
<option solver="CG" tolerance="1e-6" timestep=".01"/>
<size memory="1G"/>
<visual>
<map stiffness="100"/>
</visual>
<default>
<default class="wall">
<geom type="plane" size=".5 .5 .05"/>
</default>
</default>
<worldbody>
<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<replicate count="10" offset=".07 0 0">
<replicate count="10" offset="0 .07 0">
<replicate count="10" offset="0 0 .07">
<body pos="-0.35 -0.35 0.65">
<joint type="slide" axis="1 0 0" group="3"/>
<joint type="slide" axis="0 1 0" group="3"/>
<joint type="slide" axis="0 0 1" group="3"/>
<geom size="0.025" condim="1" priority="1" rgba="0.8 0.2 0.1 1"/>
<body pos="-.315 -.315 1">
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="slide" axis="0 0 1"/>
<geom size=".025" rgba=".8 .2 .1 1" condim="1"/>
</body>
</replicate>
</replicate>
model/composite/particle_free.xml → model/replicate/particle_free.xml
+11 -5
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@@ -35,9 +35,15 @@
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<composite type="particle" count="3 3 3" spacing="0.07" offset="0 0 1">
<geom type="box" size=".025 .025 .025" rgba=".8 .2 .1 1" condim="3"/>
<joint kind="particle" type="free"/>
</composite>
<replicate count="3" offset=".07 0 0">
<replicate count="3" offset="0 .07 0">
<replicate count="3" offset="0 0 .07">
<body pos="-.07 -.07 1">
<freejoint/>
<geom type="box" size=".025 .025 .025" rgba=".8 .2 .1 1" condim="3"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>
</mujoco>
model/composite/particle_free2d.xml → model/replicate/particle_free2d.xml
+10 -6
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@@ -35,11 +35,15 @@
<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
<composite type="particle" count="15 15 1" spacing="0.06" offset="0 0 .1">
<geom type="ellipsoid" size=".025 .02 .015" rgba=".8 .2 .1 1"/>
<joint kind="particle" type="slide" axis="1 0 0"/>
<joint kind="particle" type="slide" axis="0 1 0"/>
<joint kind="particle" type="hinge" axis="0 0 1"/>
</composite>
<replicate count="15" offset=".06 0 0">
<replicate count="15" offset="0 .06 0">
<body pos="-.42 -.42 .1">
<joint type="slide" axis="1 0 0"/>
<joint type="slide" axis="0 1 0"/>
<joint type="hinge" axis="0 0 1"/>
<geom type="ellipsoid" size=".025 .02 .015" rgba=".8 .2 .1 1"/>
</body>
</replicate>
</replicate>
</worldbody>
</mujoco>
model/composite/scene.xml → model/replicate/scene.xml
-2
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@@ -29,11 +29,9 @@
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
<texture name="texcarpet" type="2d" file="carpet.png"/>
<texture name="texmarble" type="cube" file="marble.png"/>
<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
<material name="matcarpet" texture="texcarpet"/>
<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
</asset>