Remove the particle composite (replaced by replicate).

PiperOrigin-RevId: 730089997 Change-Id: If8d18fb56ae01241e76f84dbf7951e034026d829
2025-02-23 03:13:20 -08:00
parent 0fcd20f0da
commit c52d1b3941
20 changed files with 164 additions and 527 deletions
@@ -0,0 +1,49 @@
+<!-- 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="scene.xml"/>
+
+  <option solver="CG" tolerance="1e-6" timestep=".01"/>
+
+  <size memory="5M"/>
+
+  <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="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>