Robosuite-Scenic Integration [Custom only]

examples/robosuite/dual_table_workspace.scenic

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+# examples/robosuite/dual_table_workspace.scenic
+model scenic.simulators.robosuite.model
+
+# Arena Setup
+back_table = new Table at (-0.6, 0, 0.8)
+front_table = new Table at (0.6, 0, 0.8)
+
+# OBJECTS 
+red_cube = new Box at (Range(-0.7, -0.5), Range(-0.1, 0.1), 0.83),
+    with color (1, 0, 0, 1),
+
+
+green_cube = new Box at (Range(0.5, 0.7), Range(-0.1, 0.1), 0.83),
+    with color (0, 1, 0, 1),
+    with width 0.05, with length 0.05, with height 0.05
+
+# ROBOT
+ego = new Panda at (0, 0, 0)

examples/robosuite/four_table_workspace.scenic

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+# examples/robosuite/four_table_workspace.scenic
+model scenic.simulators.robosuite.model
+
+# CAMERA CONFIGURATION
+# param camera_view = "sideview"
+
+TABLE_DISTANCE = 1.0
+
+# WORKSPACE: Four tables in cross formation
+back_table = new Table at (-TABLE_DISTANCE, 0, 0.8)
+front_table = new Table at (TABLE_DISTANCE, 0, 0.8)
+right_table = new Table at (0, TABLE_DISTANCE, 0.8)
+left_table = new Table at (0, -TABLE_DISTANCE, 0.8)
+
+# TABLE 1 (Back): Primitive objects with random positions
+ball = new Ball at (Range(-1.1, -0.9), Range(-0.1, 0.1), 0.83),
+    with color (1, 0.5, 0, 1)
+
+box = new Box at (Range(-1.1, -0.9), Range(-0.1, 0.1), 0.83),
+    with color (0, 0, 1, 1)
+
+capsule = new Capsule at (Range(-1.1, -0.9), Range(-0.1, 0.1), 0.83),
+    with color (0.5, 0.5, 0.5, 1)
+
+cylinder = new Cylinder at (Range(-1.1, -0.9), Range(-0.1, 0.1), 0.83),
+    with color (0, 1, 1, 1)
+
+# TABLE 2 (Front): Nuts and food items
+square_nut = new SquareNut at (Range(0.9, 1.1), Range(-0.1, 0.1), 0.85)
+
+round_nut = new RoundNut at (Range(0.9, 1.1), Range(-0.1, 0.1), 0.85)
+
+milk = new Milk at (Range(0.9, 1.1), Range(-0.1, 0.1), 0.85)
+
+cereal = new Cereal at (Range(0.9, 1.1), Range(-0.1, 0.1), 0.85)
+
+# TABLE 3 (Right): Various objects
+can = new Can at (Range(-0.1, 0.1), Range(0.9, 1.1), 0.85)
+
+bread = new Bread at (Range(-0.1, 0.1), Range(0.9, 1.1), 0.85)
+
+bottle = new Bottle at (Range(-0.1, 0.1), Range(0.9, 1.1), 0.85)
+
+hammer = new Hammer at (Range(-0.1, 0.1), Range(0.9, 1.1), 0.85)
+
+# TABLE 4 (Left): Intentionally left empty
+
+# ROBOT
+ego = new Panda at (0, 0, 0)

examples/robosuite/stack_lift.scenic

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+model scenic.simulators.robosuite.model
+
+work_table = new Table at (0.6, 0, 0.8),
+    with width 0.6,
+    with length 1.2,
+    with height 0.05
+
+bottom_cube = new Box at (0.6, 0, 0.83),
+    with color (0.2, 0.3, 0.8, 1),
+    with width 0.06, with length 0.06, with height 0.06
+
+top_cube = new Box at (0.6, 0, 0.89)
+    with color (0.8, 0.2, 0.2, 1),
+
+bottle = new Bottle at (0.6, 0.3, 0.83)
+
+pickup_object = top_cube
+
+behavior StackLift():
+    """Pick up the top cube from the stack and lift it."""
+    do PickObject(pickup_object)
+    do LiftToHeight(1.05)
+    for _ in range(10):
+        if pickup_object.position.z > 1.0:
+            terminate simulation
+        wait
+ego = new UR5e at (0, 0, 0),
+    with behavior StackLift()

examples/robosuite/stacked_cubes.scenic

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+model scenic.simulators.robosuite.model
+
+# param camera_view = "sideview"
+
+work_table = new Table at (0.6, 0, 0.8),
+    with width 0.6,
+    with length 1.2,
+    with height 0.05
+
+bottom_cube = new Box at (0.6, 0, 0.83),
+    with color (0.2, 0.3, 0.8, 1),
+    with width 0.06, with length 0.06, with height 0.06
+
+top_cube = new Box at (0.6, 0, 0.89), 
+    with color (0.8, 0.2, 0.2, 1),
+
+bottle = new Bottle at (0.6, 0.3, 0.83)
+
+ego = new UR5e at (0, 0, 0)

src/scenic/simulators/robosuite/__init__.py

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+"""RoboSuite simulator interface for Scenic."""
+
+from .simulator import RobosuiteSimulator, RobosuiteSimulation
+
+__all__ = ['RobosuiteSimulator', 'RobosuiteSimulation']

src/scenic/simulators/robosuite/model.scenic

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+# src/scenic/simulators/robosuite/model.scenic
+
+"""Scenic world model for RoboSuite - Custom Environments Only."""
+
+from .simulator import RobosuiteSimulator, SetJointPositions, OSCPositionAction
+
+# Global parameters with defaults matching Robosuite's defaults
+param env_config = {}
+param controller_config = None
+param camera_view = None
+param render = True
+param real_time = True
+param speed = 1.0
+param lite_physics = None  # None = use Robosuite default (True)
+
+# Simulator - no more use_environment parameter
+simulator RobosuiteSimulator(
+    render=globalParameters.render,
+    real_time=globalParameters.real_time,
+    speed=globalParameters.speed,
+    env_config=globalParameters.env_config,
+    controller_config=globalParameters.controller_config,
+    camera_view=globalParameters.camera_view,
+    lite_physics=globalParameters.lite_physics
+)
+
+# Default values dictionary
+DEFAULTS = {
+    # Object properties
+    'object_size': 0.03,
+    'density': 1000,
+    'friction': (1.0, 0.005, 0.0001),
+    'solref': (0.02, 1.0),
+    'solimp': (0.9, 0.95, 0.001, 0.5, 2.0),
+    'default_color': (0.5, 0.5, 0.5, 1.0),
+
+    # Arena properties
+    'table_height': 0.8,
+    'table_width': 0.8,
+    'table_length': 0.8,
+    'table_thickness': 0.05,
+
+    # Robot properties
+    'robot_width': 0.2,
+    'robot_length': 0.2,
+    'robot_height': 0.5,
+
+    # Control parameters
+    'control_gain': 3.0,
+    'control_limit': 0.3,
+    'position_tolerance': 0.02,
+    'height_tolerance': 0.02,
+    'gripper_open_steps': 20,
+    'gripper_close_steps': 30,
+    'max_control_steps': 100,
+    'max_lift_steps': 200
+}
+
+# Base classes
+class RoboSuiteObject(Object):
+    """Base class for all RoboSuite objects."""
+    density: DEFAULTS['density']
+    friction: DEFAULTS['friction']
+    solref: DEFAULTS['solref']
+    solimp: DEFAULTS['solimp']
+    shape: BoxShape()
+    allowCollisions: True
+
+# Table for arena setup
+class Table(RoboSuiteObject):
+    """Table in environment."""
+    isTable: True
+    width: DEFAULTS['table_width']
+    length: DEFAULTS['table_length']
+    height: DEFAULTS['table_thickness']
+    position: (0, 0, DEFAULTS['table_height'])
+
+# Base class for manipulable objects
+class ManipulationObject(RoboSuiteObject):
+    """Base class for objects that can be manipulated."""
+    color: DEFAULTS['default_color']
+
+# Primitive shape objects (matching RoboSuite's naming)
+class Box(ManipulationObject):
+    """Box object."""
+    objectType: "Box"
+    width: DEFAULTS['object_size']
+    length: DEFAULTS['object_size']
+    height: DEFAULTS['object_size']
+
+class Ball(ManipulationObject):
+    """Ball/sphere object."""
+    objectType: "Ball"
+    radius: DEFAULTS['object_size']
+    width: DEFAULTS['object_size'] * 2
+    length: DEFAULTS['object_size'] * 2
+    height: DEFAULTS['object_size'] * 2
+
+class Cylinder(ManipulationObject):
+    """Cylinder object."""
+    objectType: "Cylinder"
+    width: DEFAULTS['object_size'] * 2
+    length: DEFAULTS['object_size'] * 2
+    height: DEFAULTS['object_size'] * 4
+
+class Capsule(ManipulationObject):
+    """Capsule object."""
+    objectType: "Capsule"
+    width: DEFAULTS['object_size'] * 1.5
+    length: DEFAULTS['object_size'] * 1.5
+    height: DEFAULTS['object_size'] * 3
+
+# Complex objects (matching RoboSuite's naming)
+class Milk(ManipulationObject):
+    """Milk carton object."""
+    objectType: "Milk"
+
+class Cereal(ManipulationObject):
+    """Cereal box object."""
+    objectType: "Cereal"
+
+class Can(ManipulationObject):
+    """Can object."""
+    objectType: "Can"
+
+class Bread(ManipulationObject):
+    """Bread object."""
+    objectType: "Bread"
+
+class Bottle(ManipulationObject):
+    """Bottle object."""
+    objectType: "Bottle"
+
+class Hammer(ManipulationObject):
+    """Hammer object."""
+    objectType: "Hammer"
+
+class SquareNut(ManipulationObject):
+    """Square nut object."""
+    objectType: "SquareNut"
+
+class RoundNut(ManipulationObject):
+    """Round nut object."""
+    objectType: "RoundNut"
+
+# Robots (matching RoboSuite's naming)
+class Robot(RoboSuiteObject):
+    """Base robot class."""
+    robot_type: "Panda"
+    gripper_type: "default"
+    controller_config: None
+    initial_qpos: None
+    base_type: "default"
+    width: DEFAULTS['robot_width']
+    length: DEFAULTS['robot_length']
+    height: DEFAULTS['robot_height']
+
+    # Dynamic properties
+    joint_positions[dynamic]: []
+    eef_pos[dynamic]: [0, 0, 0]
+    gripper_state[dynamic]: [0, 0]
+
+class Panda(Robot):
+    """Franka Emika Panda robot."""
+    robot_type: "Panda"
+    gripper_type: "PandaGripper"
+
+class UR5e(Robot):
+    """Universal Robots UR5e."""
+    robot_type: "UR5e"
+    gripper_type: "Robotiq85Gripper"
+
+class Sawyer(Robot):
+    """Rethink Robotics Sawyer."""
+    robot_type: "Sawyer"
+    gripper_type: "RethinkGripper"
+
+class Jaco(Robot):
+    """Kinova Jaco robot."""
+    robot_type: "Jaco"
+    gripper_type: "JacoThreeFingerGripper"
+
+class IIWA(Robot):
+    """KUKA IIWA robot."""
+    robot_type: "IIWA"
+    gripper_type: "Robotiq140Gripper"
+
+# Behavior Library
+behavior OpenGripper(steps=DEFAULTS['gripper_open_steps']):
+    """Open gripper over multiple steps."""
+    for _ in range(steps):
+        take OSCPositionAction(gripper=-1)
+
+behavior CloseGripper(steps=DEFAULTS['gripper_close_steps']):
+    """Close gripper over multiple steps."""
+    for _ in range(steps):
+        take OSCPositionAction(gripper=1)
+
+behavior MoveToPosition(target_pos, 
+                        tolerance=DEFAULTS['position_tolerance'], 
+                        max_steps=DEFAULTS['max_control_steps'], 
+                        gain=DEFAULTS['control_gain']):
+    """Move end-effector to target position."""
+    for _ in range(max_steps):
+        eef_pos = self.eef_pos
+        error = [target_pos[i] - eef_pos[i] for i in range(3)]
+
+        if sum(e**2 for e in error)**0.5 < tolerance:
+            return
+
+        limit = DEFAULTS['control_limit']
+        delta = [max(-limit, min(limit, e * gain)) for e in error]
+        take OSCPositionAction(position_delta=delta, gripper=-1)
+
+behavior MoveAboveObject(target_object, height_offset=0.1):
+    """Move above a tracked object."""
+    target_pos = [target_object.position.x, 
+                  target_object.position.y, 
+                  target_object.position.z + height_offset]
+    do MoveToPosition(target_pos)
+
+behavior MoveToGrasp(target_object, grasp_offset=0.02):
+    """Move to grasp position for object."""
+    target_pos = [target_object.position.x, 
+                  target_object.position.y, 
+                  target_object.position.z - grasp_offset]
+    do MoveToPosition(target_pos, tolerance=0.01)
+
+behavior LiftToHeight(target_height=1.0, max_steps=DEFAULTS['max_lift_steps']):
+    """Lift to absolute height."""
+    for _ in range(max_steps):
+        eef_pos = self.eef_pos
+        error = [0, 0, target_height - eef_pos[2]]
+
+        if abs(error[2]) < DEFAULTS['height_tolerance']:
+            return
+
+        limit = DEFAULTS['control_limit']
+        gain = DEFAULTS['control_gain']
+        delta = [max(-limit, min(limit, e * gain)) for e in error]
+        take OSCPositionAction(position_delta=delta, gripper=1)
+
+behavior PickObject(target_object):
+    """Pick up a specific object."""
+    do OpenGripper()
+    do MoveAboveObject(target_object)
+    do MoveToGrasp(target_object)
+    do CloseGripper()
+
+behavior PickAndLift(target_object, height=1.05):
+    """Complete pick and lift for specific object."""
+    do PickObject(target_object)
+    do LiftToHeight(height)