Remove cloth and rope composites and deprecate loop.
PiperOrigin-RevId: 568168329 Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
This commit is contained in:
Alessio Quaglino
committed by
Copybara-Service
Copybara-Service
parent
cbb07a4c32
commit
d3d46e16a4
@@ -1,35 +0,0 @@
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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="Cloth">
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<include file="scene.xml"/>
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<option timestep="0.002" solver="CG" tolerance="1e-6"/>
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<size memory="10M"/>
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<worldbody>
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<body name="B3_5" pos="0 0 1">
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<freejoint/>
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<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
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<joint kind="main" damping="0.001"/>
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<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
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<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
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</composite>
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</body>
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</worldbody>
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</mujoco>
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@@ -1,32 +0,0 @@
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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="Loop">
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<include file="scene.xml"/>
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<option timestep="0.002" jacobian="dense"/>
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<size memory="2M"/>
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<worldbody>
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<body name="B0" pos="0 0 1">
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<freejoint/>
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<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
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<joint kind="main" damping="0.005"/>
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<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
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</composite>
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</body>
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</worldbody>
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</mujoco>
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@@ -23,22 +23,33 @@
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-->
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<statistic center=".4 0 .8" extent="1.3"/>
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<option wind="5 5 0" density="10">
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<flag constraint="disable"/>
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<option wind="5 5 0" density="10" solver="CG" tolerance="1e-6">
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</option>
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<extension>
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<plugin plugin="mujoco.elasticity.shell"/>
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</extension>
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<worldbody>
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<geom name="floor" type="plane" size="0 0 .1"/>
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<light diffuse=".6 .6 .6" specular="0.2 0.2 0.2" pos="0 0 4" dir="0 0 -1"/>
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<body name="B0_0" pos="0 0 1">
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<composite type="cloth" count="9 19 1" spacing="0.05" flatinertia="0.01">
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<joint kind="main" damping="0.001" stiffness=".1"/>
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<body pos="0 0 1">
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<composite type="particle" count="9 19 1" spacing="0.05" flatinertia="0.01">
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<skin texcoord="true" inflate="0.005" subgrid="4"/>
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<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1"/>
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<tendon kind="main" stiffness="100" damping=".001"/>
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<tendon kind="shear" stiffness="100" damping=".001"/>
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<geom type="ellipsoid" size="0.025 0.01 0.025" rgba=".8 .2 .1 1" group="4"/>
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<plugin plugin="mujoco.elasticity.shell">
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<config key="poisson" value="0"/>
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<config key="damping" value="0.001"/>
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<config key="thickness" value="1e-2"/>
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<!--Units are in Pa (SI)-->
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<config key="young" value="3e6"/>
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</plugin>
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</composite>
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</body>
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</worldbody>
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<equality>
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<connect body1="B0_0_0" anchor="0 0 0" solref="0.0002 1"/>
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</equality>
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</mujoco>
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@@ -41,7 +41,7 @@
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<composite type="particle" count="16 16 1" spacing="0.05" offset="0 0 1">
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<geom size=".02" rgba=".8 .2 .1 1" group="4" density="1000"
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condim="3" solref="0.01 1" solimp=".95 .99 .0001"/>
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<skin inflate="0.01" rgba=".4 0 .3 1" subgrid="4"/>
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<skin inflate="0.0001" rgba=".4 0 .3 1" subgrid="1"/>
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<plugin plugin="mujoco.elasticity.shell">
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<config key="poisson" value="0"/>
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<config key="damping" value="0.001"/>
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