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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/cylinder.xml
+31
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@@ -0,0 +1,31 @@
<mujoco model="Cylinder">
<statistic meansize=".05"/>
<worldbody>
<light pos=".5 0 3"/>
<light pos="-.5 0 3"/>
<geom type="plane" size="2 2 .01"/>
<body pos="-.3 0 .3" euler="80 10 0">
<freejoint/>
<replicate count="30" euler="0 0 12">
<geom type="box" pos="0 -.12 0" size=".01315 .005 .1" rgba=".8 0 0 1"/>
</replicate>
</body>
<body pos="0 0 .4" euler="20 20 0">
<freejoint/>
<replicate count="10" euler="0 0 36">
<geom type="box" pos="0 -0.067 0" size=".025 .01 .1" rgba="0 .8 0 1"/>
</replicate>
</body>
<body pos=".3 0 .3" euler="30 30 0">
<freejoint/>
<replicate count="4" euler="0 0 90">
<geom type="box" pos="0.005 -0.05 0" size=".05 .005 .08" rgba="0 0 .8 1"/>
</replicate>
</body>
</worldbody>
</mujoco>