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Remove cloth and rope composites and deprecate loop.

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PiperOrigin-RevId: 568168329
Change-Id: Ida4a5236bef74828c7bf59affdc28adea3db53b1
This commit is contained in:
Alessio Quaglino
2023-09-25 03:37:42 -07:00
committed by Copybara-Service
parent cbb07a4c32
commit d3d46e16a4
14 changed files with 5709 additions and 448 deletions
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model/composite/cloth.xml
-35
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@@ -1,35 +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="Cloth">
<include file="scene.xml"/>
<option timestep="0.002" solver="CG" tolerance="1e-6"/>
<size memory="10M"/>
<worldbody>
<body name="B3_5" pos="0 0 1">
<freejoint/>
<composite type="cloth" count="9 9 1" spacing="0.05" flatinertia="0.01">
<joint kind="main" damping="0.001"/>
<skin material="matcarpet" texcoord="true" inflate="0.005" subgrid="2"/>
<geom type="capsule" size="0.015 0.01" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>
model/composite/loop.xml
-32
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@@ -1,32 +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="Loop">
<include file="scene.xml"/>
<option timestep="0.002" jacobian="dense"/>
<size memory="2M"/>
<worldbody>
<body name="B0" pos="0 0 1">
<freejoint/>
<composite type="loop" count="20 1 1" spacing="0.04" offset="0 0 2">
<joint kind="main" damping="0.005"/>
<geom type="capsule" size=".01 .015" rgba=".8 .2 .1 1"/>
</composite>
</body>
</worldbody>
</mujoco>