.skn file not working with replicated bodies (dmcontrol rodent model)

[charles-zhng]

Hi, I'm trying to use the new replicate tag with the dmcontrol rodent model, but I run into this error with loading it into Mujoco:

ValueError                                Traceback (most recent call last)
Cell In[16], [line 1](vscode-notebook-cell:?execution_count=16&line=1)
----> [1](vscode-notebook-cell:?execution_count=16&line=1) model = mujoco.MjModel.from_xml_path(path)

ValueError: Error: unknown body 'torso' in skin
Element name 'skin', id 0, line 15

I believe this is caused by the renaming of bodies when replicating, making the skin file refer to nonexistent bodies. Is there another way to apply the same .skn file to replicated bodies?
Thanks!

[yuvaltassa]

Oof, we didn't think of that...

Your diagnosis is correct, but I don't see an easy solution given that the names are baked into the file...