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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/user/user_composite_test.cc
-28
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@@ -57,34 +57,6 @@ TEST_F(UserCompositeTest, MultipleJointsNotAllowedUnlessParticle) {
HasSubstr("Only particles are allowed to have multiple joints"));
}
TEST_F(UserCompositeTest, StretchAndTwistAllowed) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body name="B10">
<freejoint/>
<composite type="rope" count="21 1 1" spacing="0.04">
<joint kind="main" damping="0.005"/>
<joint kind="stretch" damping="0.005"/>
<joint kind="twist" damping="0.005"/>
<geom type="capsule" size=".01 .015"/>
</composite>
</body>
</worldbody>
</mujoco>
)";
static char warning[1024];
warning[0] = '\0';
mju_user_warning = [](const char* msg) {
util::strcpy_arr(warning, msg);
};
std::array<char, 1024> error;
mjModel* m = LoadModelFromString(xml, error.data(), error.size());
EXPECT_THAT(m, NotNull());
EXPECT_THAT(warning, HasSubstr("deprecated"));
mj_deleteModel(m);
}
TEST_F(UserCompositeTest, SpacingGreaterThanGeometry) {
static constexpr char xml[] = R"(
<mujoco>