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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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test/benchmark/step_benchmark_test.cc
+5 -4
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@@ -79,12 +79,12 @@ static void run_step_benchmark(const mjModel* model, benchmark::State& state) {
// separately in CPU profiles (and don't get replaced with raw calls to
// run_step_benchmark).
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCloth(benchmark::State& state) {
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepCable(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = LoadModelFromPath("composite/cloth.xml");
static mjModel* model = LoadModelFromPath("plugin/elasticity/flag.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepCloth);
BENCHMARK(BM_StepCable);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepParticle(benchmark::State& state) {
MujocoErrorTestGuard guard;
@@ -95,7 +95,8 @@ BENCHMARK(BM_StepParticle);
void ABSL_ATTRIBUTE_NO_TAIL_CALL BM_StepFlag(benchmark::State& state) {
MujocoErrorTestGuard guard;
static mjModel* model = LoadModelFromPath("flag/flag.xml");
static mjModel* model =
LoadModelFromPath("../test/benchmark/testdata/flag.xml");
run_step_benchmark(model, state);
}
BENCHMARK(BM_StepFlag);