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Add replicate element to MJCF. Fixes #553

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PiperOrigin-RevId: 629393578
Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
This commit is contained in:
Alessio Quaglino
2024-04-30 06:28:09 -07:00
committed by Copybara-Service
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
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model/replicate/bowl.xml
+46
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@@ -0,0 +1,46 @@
<mujoco model="Bowl">
<statistic meansize=".05"/>
<worldbody>
<light pos=".1 0 .6"/>
<light pos="-.1 0 .6"/>
<geom type="plane" size="1 1 .01"/>
<body pos="-.1 0 .04" euler="20 10 0">
<freejoint/>
<geom type="cylinder" size="0.03 0.002" rgba=".8 0 0 1"/>
<replicate count="20" euler="0 0 18">
<frame pos="-.025 0 .03" euler="0 15 0">
<replicate count="6" euler="0 15 0">
<geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba=".8 0 0 1"/>
</replicate>
</frame>
</replicate>
</body>
<body pos="0 0 .02" euler="20 20 0">
<freejoint/>
<geom type="cylinder" size="0.01 0.0015" rgba="0 .8 0 1"/>
<replicate count="20" euler="0 0 18">
<frame pos="-.005 0 .03" euler="0 15 0">
<replicate count="6" euler="0 15 0">
<geom type="box" size=".0044 .006 .0015" pos="0 0 -.03" rgba="0 .8 0 1"/>
</replicate>
</frame>
</replicate>
</body>
<body pos=".09 0 .04" euler="30 30 0">
<freejoint/>
<geom type="cylinder" size="0.03 0.002" rgba="0 0 .8 1"/>
<replicate count="20" euler="0 0 18">
<frame pos="-.025 0 .03" euler="0 15 0">
<replicate count="4" euler="0 15 0">
<geom type="box" size=".0044 .009 .002" pos="0 0 -.03" rgba="0 0 .8 1"/>
</replicate>
</frame>
</replicate>
</body>
</worldbody>
</mujoco>