Remove elasticity dependency

Author: Balint-H

welcome_scene/hello_ssnr.py

@@ -9,7 +9,7 @@
 
 # Change this string to other scenes you may want to load. You can also open the xml in a code editor
 # to examine its contents. For more instructions check out the header comments of xml/01_planar_arm.xml
-xml = r'welcome.xml'
+xml = r'welcome_scene/welcome.xml'
 
 
 if __name__ == '__main__':

welcome_scene/welcome.xml

@@ -22,7 +22,7 @@
      Simple humanoid on a hammock, implemented as a 2D grid composite, pinned at the corners.
 -->
 
-  <option timestep="0.001" solver="CG" iterations="40" tolerance="1e-6"/>
+  <option timestep="0.001" solver="CG" iterations="40" tolerance="1e-5"/>
 
   <size memory="20M"/>
 
@@ -33,9 +33,6 @@
     <global offwidth="800" offheight="800"/>
   </visual>
 
-  <extension>
-    <plugin plugin="mujoco.elasticity.shell"/>
-  </extension>
 
   <asset>
     <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
@@ -70,8 +67,6 @@
               radius="0.01">
       <pin id="0 8 90 98"/>
       <edge equality="true" solref="0.00001 4" damping="10"/>
-
-       
       <contact selfcollide="none" internal="false" solimp=".99 .999 .000001" solref="0.001 1"/>
     </flexcomp>
 	</body>