The ’asset/model‘ tag may miss some types of actuators.

Intro

Hi!

I am a PhD student working on robot cluster simulations using MuJoCo.

My setup

MuJoCo：3.2.5 Python Windows10

What's happening? What did you expect?

I want to find a way to create a robot cluster in the XML model where all the individual robots are identical. I noticed that using asset/model can simplify the process and avoid repetitive creation. My single robot includes various types of actuators, including those applied to joints and those applied to sites. When using attach in the final XML file, the actuators applied to sites are ignored, but the others are referenced correctly. And I can create an actuator in the scene.xml file. In addition, I have some other questions.

How to create multiple copies with position offsets, similar to using replicate/offset.
I can first create a body and set its position, then reference attach in the child body of this body. However, there is a freejoint in my submodel, which causes a conflict.
I tried using replicate, but it doesn't synchronize the creation of actuator.

Here is a screen-shot showing a green sphere:

In single module, there are two actuators.
But, there is only one actuator in scene

Steps for reproduction

The scene.xml file is the final file, and singlemodel.xml is the submodel.

Minimal model for reproduction

Here is my simplified example.

scene.xml

```XML ```

singleModel.xml

```XML ```

Code required for reproduction

No response

Confirmations

[X] I searched the latest documentation thoroughly before posting.
[x] I searched previous Issues and Discussions, I am certain this has not been raised before.

google-deepmind / mujoco