Add replicate element to MJCF. Fixes #553

PiperOrigin-RevId: 629393578 Change-Id: Ia1db1b9e47eba8868117b0f7b85edcd0cc1b6d79
2024-04-30 06:28:09 -07:00
parent 6a5bbb5157
commit 26f23066d1
30 changed files with 8756 additions and 2807 deletions
@@ -0,0 +1,25 @@
+<mujoco model="Helix">
+  <statistic meansize=".05"/>
+
+  <worldbody>
+    <light pos=".5 0 3"/>
+    <light pos="-.5 0 3"/>
+    <geom type="plane" size="2 2 .01"/>
+
+    <body pos="0 0 .3">
+      <freejoint/>
+      <replicate count="50" offset="0 0 0.01" euler="0 0 25">
+        <geom type="capsule" size=".01 .05" pos="0 -.23 -.2" euler="0 84.5 0" rgba="0 0 1 1"/>
+      </replicate>
+    </body>
+
+
+    <body pos=".6 0 .3" euler="0 0 90">
+      <freejoint/>
+      <replicate count="50" offset="0 0 0.01" euler="0 0 15">
+        <geom type="box" pos=".025 -.2 -.2" size=".032 .04 .005" euler="-24 -12 2" rgba=".8 0 0 1"/>
+      </replicate>
+    </body>
+
+  </worldbody>
+</mujoco>