Remove the particle composite (replaced by replicate).
PiperOrigin-RevId: 730089997 Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
This commit is contained in:
Alessio Quaglino
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Copybara-Service
Copybara-Service
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After Width: | Height: | Size: 311 KiB |
@@ -1,20 +1,51 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Particle">
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<include file="container.xml"/>
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<size memory="1G"/>
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<!-- Degree of Freedom: 3000
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Actuators: 0
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-->
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".01"/>
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<size memory="1G"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
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<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
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<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
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<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
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<replicate count="10" offset=".07 0 0">
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<replicate count="10" offset="0 .07 0">
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<replicate count="10" offset="0 0 .07">
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<body pos="-0.35 -0.35 0.65">
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<joint type="slide" axis="1 0 0" group="3"/>
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<joint type="slide" axis="0 1 0" group="3"/>
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<joint type="slide" axis="0 0 1" group="3"/>
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<geom size="0.025" condim="1" priority="1" rgba="0.8 0.2 0.1 1"/>
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<body pos="-.315 -.315 1">
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<joint type="slide" axis="1 0 0"/>
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<joint type="slide" axis="0 1 0"/>
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<joint type="slide" axis="0 0 1"/>
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<geom size=".025" rgba=".8 .2 .1 1" condim="1"/>
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</body>
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</replicate>
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</replicate>
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@@ -0,0 +1,49 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Particle">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".01"/>
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<size memory="5M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
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<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
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<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
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<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
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<replicate count="3" offset=".07 0 0">
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<replicate count="3" offset="0 .07 0">
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<replicate count="3" offset="0 0 .07">
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<body pos="-.07 -.07 1">
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<freejoint/>
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<geom type="box" size=".025 .025 .025" rgba=".8 .2 .1 1" condim="3"/>
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</body>
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</replicate>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,49 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco model="Particle">
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<include file="scene.xml"/>
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<option solver="CG" tolerance="1e-6" timestep=".01"/>
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<size memory="10M"/>
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<visual>
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<map stiffness="100"/>
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</visual>
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<default>
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<default class="wall">
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<geom type="plane" size=".5 .5 .05"/>
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</default>
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</default>
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<worldbody>
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<geom name="+x" class="wall" zaxis="1 0 0" pos="-.5 0 -.25"/>
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<geom name="-x" class="wall" zaxis="-1 0 0" pos=".5 0 -.25"/>
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<geom name="+y" class="wall" zaxis="0 1 0" pos="0 -.5 -.25"/>
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<geom name="-y" class="wall" zaxis="0 -1 0" pos="0 .5 -.25"/>
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<replicate count="15" offset=".06 0 0">
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<replicate count="15" offset="0 .06 0">
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<body pos="-.42 -.42 .1">
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<joint type="slide" axis="1 0 0"/>
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<joint type="slide" axis="0 1 0"/>
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<joint type="hinge" axis="0 0 1"/>
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<geom type="ellipsoid" size=".025 .02 .015" rgba=".8 .2 .1 1"/>
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</body>
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</replicate>
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</replicate>
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</worldbody>
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</mujoco>
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@@ -0,0 +1,48 @@
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<!-- Copyright 2021 DeepMind Technologies Limited
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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-->
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<mujoco>
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<compiler meshdir="asset" texturedir="asset"/>
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<statistic extent="1.5" meansize=".05"/>
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<option timestep="0.005" jacobian="sparse"/>
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<visual>
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<rgba haze="0.15 0.25 0.35 1"/>
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<quality shadowsize="4096"/>
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<map stiffness="700" shadowscale="0.5" fogstart="10" fogend="15" zfar="40" haze="0.3"/>
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</visual>
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<asset>
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<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
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<texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2"
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width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
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<texture name="texmarble" type="cube" file="marble.png"/>
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<material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
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<material name="matmarble" texture="texmarble" rgba=".7 .7 .7 1"/>
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</asset>
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<worldbody>
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<light directional="true" diffuse=".4 .4 .4" specular="0.1 0.1 0.1" pos="0 0 5.0" dir="0 0 -1" castshadow="false"/>
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<light directional="true" diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<geom name="ground" type="plane" size="0 0 1" pos="0 0 0" quat="1 0 0 0" material="matplane" condim="1"/>
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<body mocap="true" pos="-.1 .05 0" zaxis=".5 0 1">
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<geom type="capsule" size=".1 .1" material="matmarble" group="1" condim="1"/>
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</body>
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</worldbody>
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</mujoco>
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