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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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test/engine/testdata/collision_primitive/spheres_cylinders.xml
Vendored
+40 -16
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@@ -39,25 +39,49 @@
<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 2" spacing="0.2" offset="0 0 1">
<geom type="sphere" size=".09" rgba=".8 .2 .1 1" condim="3"/>
<joint kind="particle" type="free"/>
</composite>
<replicate count="3" offset=".2 0 0">
<replicate count="3" offset="0 .2 0">
<replicate count="2" offset="0 0 .2">
<body pos="-.2 -.2 1">
<freejoint/>
<geom type="sphere" size=".09" rgba=".8 .2 .1 1" condim="3"/>
</body>
</replicate>
</replicate>
</replicate>
<composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 1.6" prefix="A">
<geom type="cylinder" size=".09 .02" rgba=".8 .2 .1 1" condim="3"/>
<joint kind="particle" type="free"/>
</composite>
<replicate count="3" offset=".2 0 0" prefix="A">
<replicate count="3" offset="0 .2 0">
<replicate count="2" offset="0 0 .2">
<body pos="-.2 -.2 1.6">
<freejoint/>
<geom type="cylinder" size=".09 .02" rgba=".8 .2 .1 1" condim="3"/>
</body>
</replicate>
</replicate>
</replicate>
<composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 2.2" prefix="B">
<geom type="cylinder" size=".02 .09" rgba=".8 .2 .1 1" condim="3"/>
<joint kind="particle" type="free"/>
</composite>
<replicate count="3" offset=".2 0 0" prefix="B">
<replicate count="3" offset="0 .2 0">
<replicate count="2" offset="0 0 .2">
<body pos="-.2 -.2 2.2">
<freejoint/>
<geom type="cylinder" size=".02 .09" rgba=".8 .2 .1 1" condim="3"/>
</body>
</replicate>
</replicate>
</replicate>
<composite type="particle" count="3 3 2" spacing="0.2" offset="0 0 2.8" prefix="C">
<geom type="sphere" size=".06" rgba=".8 .2 .1 1" condim="3"/>
<joint kind="particle" type="free"/>
</composite>
<replicate count="3" offset=".2 0 0" prefix="C">
<replicate count="3" offset="0 .2 0">
<replicate count="2" offset="0 0 .2">
<body pos="-.2 -.2 2.8">
<freejoint/>
<geom type="sphere" size=".06" rgba=".8 .2 .1 1" condim="3"/>
</body>
</replicate>
</replicate>
</replicate>
</worldbody>
</mujoco>