Load bodies outside xml file

[rohit-kumar-j]

Can we load bodies into the simulator outside what is mentioned within the XML file?
Example:

model = mujoco.MjModel.from_xml_path("path_to_xml")

bodies_index = []
for i in range(0,10):
    body_index = mujoco.loadURDF("path_to_stl_or_xml") # returns the unique body index
    bodies_index.append(body_index)

similar to pybullet.loadURDF()

[yuvaltassa]

Hi,
I think you're asking for procedural modification of MuJoCo models? This is currently best supported by dm_control's pyMJCF module. If you have any questions, please follow up in the dm_control repo.