BerkeleyLearnVerify · sahil-tgs · Jul 28, 2025 · Aug 4, 2025 · Aug 7, 2025 · Aug 7, 2025
diff --git a/examples/robosuite/custom_mjcf_table.scenic b/examples/robosuite/custom_mjcf_table.scenic
@@ -0,0 +1,87 @@
+# examples/robosuite/custom_mjcf_table.scenic
+"""Test with two XML tables and XML cubes on top, positioned in front of robot."""
+model scenic.simulators.robosuite.model
+
+# Get the directory of this scenic file for relative paths
+param scenic_file_dir = localPath(".")
+
+# Table 1 XML - a manipulable table object
+table_xml = """
+<mujoco model="table">
+  <worldbody>
+    <body>
+      <body name="object">
+        <!-- Table top -->
+        <geom name="table_top_visual" 
+              type="box" 
+              size="0.4 0.3 0.025" 
+              pos="0 0 0"
+              rgba="0.6 0.3 0.1 1" 
+              group="1"/>
+
+        <!-- Table legs -->
+        <geom name="leg1_visual" type="cylinder" pos="0.35 0.25 -0.4" size="0.02 0.4" rgba="0.5 0.25 0.05 1" group="1"/>
+        <geom name="leg2_visual" type="cylinder" pos="-0.35 0.25 -0.4" size="0.02 0.4" rgba="0.5 0.25 0.05 1" group="1"/>
+        <geom name="leg3_visual" type="cylinder" pos="0.35 -0.25 -0.4" size="0.02 0.4" rgba="0.5 0.25 0.05 1" group="1"/>
+        <geom name="leg4_visual" type="cylinder" pos="-0.35 -0.25 -0.4" size="0.02 0.4" rgba="0.5 0.25 0.05 1" group="1"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+# Red cube XML
+red_cube_xml = """
+<mujoco model="red_cube">
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom name="cube_visual" 
+              type="box" 
+              size="0.03 0.03 0.03" 
+              pos="0 0 0"
+              rgba="0.9 0.1 0.1 1" 
+              group="1"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+# Green cube XML
+green_cube_xml = """
+<mujoco model="green_cube">
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom name="cube_visual" 
+              type="box" 
+              size="0.03 0.03 0.03" 
+              pos="0 0 0"
+              rgba="0.1 0.9 0.1 1" 
+              group="1"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+
+# Create the first table (brown) - closer to robot
+table1 = new CustomObject on arena_floor,
+    with mjcfXml table_xml
+
+# Create the second table (blue) - farther from robot
+table2 = new CustomObject on arena_floor,
+    with mjcfXml table_xml
+
+
+red_cube = new CustomObject on table1,
+    with mjcfXml red_cube_xml
+
+# Place green cube on second table
+green_cube = new CustomObject on table2,
+    with mjcfXml green_cube_xml
+
+# Robot at origin
+ego = new Panda at (0, 0, 0)
diff --git a/examples/robosuite/custom_object/bread.stl b/examples/robosuite/custom_object/bread.stl
diff --git a/examples/robosuite/custom_object/bread.xml b/examples/robosuite/custom_object/bread.xml
@@ -0,0 +1,18 @@
+<!-- examples/robosuite/custom_object/bread.xml -->
+<mujoco model="bread">
+  <asset>
+    <mesh file="bread.stl" name="bread_mesh" scale="2 2 2"/>
+    <texture file="textures/bread.png" type="2d" name="tex-bread" />
+    <material name="bread" reflectance="0.7" texrepeat="15 15" texture="tex-bread" texuniform="true"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom pos="0 0 0" mesh="bread_mesh" type="mesh" solimp="0.998 0.998 0.001" solref="0.001 1" density="50" friction="0.95 0.3 0.1" material="bread" group="0" condim="4"/>
+      </body>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 -0.045" name="bottom_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0 0 0.03" name="top_site"/>
+      <site rgba="0 0 0 0" size="0.005" pos="0.03 0.03 0" name="horizontal_radius_site"/>
+    </body>
+  </worldbody>
+</mujoco>
diff --git a/examples/robosuite/custom_object/dragon.stl b/examples/robosuite/custom_object/dragon.stl
diff --git a/examples/robosuite/custom_object/textures/Dragon_ground_color.png b/examples/robosuite/custom_object/textures/Dragon_ground_color.png
diff --git a/examples/robosuite/custom_object/textures/bread.png b/examples/robosuite/custom_object/textures/bread.png
diff --git a/examples/robosuite/dual_table_workspace.scenic b/examples/robosuite/dual_table_workspace.scenic
@@ -0,0 +1,18 @@
+# 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)
diff --git a/examples/robosuite/file_xml.scenic b/examples/robosuite/file_xml.scenic
@@ -0,0 +1,16 @@
+# examples/robosuite/file_xml.scenic
+"""Test loading CustomObjects from XML files with mesh and texture assets."""
+model scenic.simulators.robosuite.model
+
+param scenic_file_dir = localPath(".")
+
+# Robot at origin
+ego = new Panda on (0, 0, 0)
+
+# Use built-in Table object
+table1 = new Table on arena_floor
+
+# Load bread object from XML file
+bread = new CustomObject on table1,
+    with mjcfXml "custom_object/bread.xml",
+    with color (0, 1, 1, 1)
diff --git a/examples/robosuite/full_xml_test3.scenic b/examples/robosuite/full_xml_test3.scenic
@@ -0,0 +1,77 @@
+# examples/robosuite/full_xml.scenic
+"""Currently No support for custom_arena_xml. fix: WIP"""
+"""Test custom arena and custom objects with complete MJCF XML."""
+model scenic.simulators.robosuite.model
+
+# Define the complete custom arena XML
+custom_arena_xml = """
+<mujoco model="custom_arena">
+  <asset>
+    <texture builtin="gradient" height="256" rgb1=".9 .9 1." rgb2=".2 .3 .4" type="skybox" width="256"/>
+    <texture builtin="flat" height="512" name="texplane" rgb1="0.7 0.7 0.8" rgb2="0.5 0.5 0.6" type="2d"/>
+    <material name="floorplane" reflectance="0.01" shininess="0.0" specular="0.0" texrepeat="2 2" texture="texplane" texuniform="true"/>
+  </asset>
+  <worldbody>
+    <!-- Floor -->
+    <geom condim="3" material="floorplane" name="floor" pos="0 0 0" size="3 3 0.125" type="plane" group="1"/>
+
+    <!-- Light -->
+    <light pos="1.0 1.0 1.5" dir="-0.2 -0.2 -1" specular="0.3 0.3 0.3" directional="true" castshadow="false"/>
+
+    <!-- Camera -->
+    <camera name="frontview" pos="2 2 2" xyaxes="-1 1 0 -0.3 -0.3 1"/>
+
+    <!-- GREEN TABLE to confirm custom arena is being used -->
+    <body name="custom_table" pos="0.5 0 0.82">
+      <!-- Visual geoms (group 1) - GREEN -->
+      <geom name="table_top" type="box" size="0.4 0.5 0.025" rgba="0.2 0.9 0.2 1" group="1"/>
+      <geom name="table_leg1" type="cylinder" pos="0.35 0.45 -0.4" size="0.02 0.4" rgba="0.1 0.7 0.1 1" group="1"/>
+      <geom name="table_leg2" type="cylinder" pos="-0.35 0.45 -0.4" size="0.02 0.4" rgba="0.1 0.7 0.1 1" group="1"/>
+      <geom name="table_leg3" type="cylinder" pos="0.35 -0.45 -0.4" size="0.02 0.4" rgba="0.1 0.7 0.1 1" group="1"/>
+      <geom name="table_leg4" type="cylinder" pos="-0.35 -0.45 -0.4" size="0.02 0.4" rgba="0.1 0.7 0.1 1" group="1"/>
+
+      <!-- Collision geoms (group 0) -->
+      <geom name="table_top_col" type="box" size="0.4 0.5 0.025" rgba="0 0 0 0" group="0"/>
+      <geom name="table_leg1_col" type="cylinder" pos="0.35 0.45 -0.4" size="0.02 0.4" rgba="0 0 0 0" group="0"/>
+      <geom name="table_leg2_col" type="cylinder" pos="-0.35 0.45 -0.4" size="0.02 0.4" rgba="0 0 0 0" group="0"/>
+      <geom name="table_leg3_col" type="cylinder" pos="0.35 -0.45 -0.4" size="0.02 0.4" rgba="0 0 0 0" group="0"/>
+      <geom name="table_leg4_col" type="cylinder" pos="-0.35 -0.45 -0.4" size="0.02 0.4" rgba="0 0 0 0" group="0"/>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+# Define the ball object XML
+ball_object_xml = """
+<mujoco model="ball">
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom name="visual" 
+              type="sphere" 
+              size="0.05" 
+              rgba="1 1 0 1" 
+              contype="0" 
+              conaffinity="0" 
+              group="1"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+# Create the custom arena
+arena = new CustomArena,
+    with arena_xml custom_arena_xml
+
+# Create a yellow ball using custom XML
+yellow_ball = new CustomObject at (0.5, 0.0, 1.0),
+    with mjcfXml ball_object_xml
+
+# Create a red box using built-in Box class for comparison
+red_box = new Box at (0.7, 0.2, 1.0),
+    with color (1, 0, 0, 1),
+    with width 0.04, with length 0.04, with height 0.04
+
+# Create the Panda robot
+ego = new Panda at (-0.5, 0, 0)
diff --git a/examples/robosuite/mesh_test.scenic b/examples/robosuite/mesh_test.scenic
@@ -0,0 +1,54 @@
+# examples/robosuite/mesh_test.scenic
+"""Test custom mesh objects with relative paths in XML."""
+model scenic.simulators.robosuite.model
+
+param scenic_file_dir = localPath(".")
+
+# Dragon object XML - uses relative path to mesh file
+dragon_object_xml = """
+<mujoco model="dragon">
+  <asset>
+    <mesh name="dragon_mesh" file="custom_object/dragon.stl" scale="0.003 0.003 0.003"/>
+    <material name="dragon_mat" rgba="0.8 0.2 0.2 1" specular="0.5" shininess="0.3"/>
+  </asset>
+  <worldbody>
+    <body>
+      <body name="object">
+        <joint name="object_joint" type="free" damping="0.0005"/>
+
+        <geom name="visual" 
+              pos="0 0 0" 
+              mesh="dragon_mesh" 
+              type="mesh" 
+              material="dragon_mat" 
+              contype="0" 
+              conaffinity="0" 
+              group="1"/>
+
+        <geom name="collision" 
+              pos="0 0 0" 
+              type="box" 
+              size="0.04 0.04 0.01" 
+              rgba="0 0 0 0" 
+              group="0"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+# Use default table arena
+table = new Table on arena_floor
+
+# Create dragon - path in XML is relative to this .scenic file
+dragon = new CustomObject on table,
+    with mjcfXml dragon_object_xml,
+    with color (1, 0, 1, 1)
+
+# Add a simple ball for comparison
+ball = new Ball on table,
+    with color (0, 1, 0, 1),
+    with radius 0.03
+
+# Robot
+ego = new Panda on (0, 0, 0)
diff --git a/examples/robosuite/spatial_operators_demo.scenic b/examples/robosuite/spatial_operators_demo.scenic
@@ -0,0 +1,78 @@
+# examples/robosuite/spatial_operators_demo.scenic
+""" WIP """
+
+"""
+Demonstration of spatial operators with mesh-aware RoboSuite objects.
+This example shows how Scenic can now use 'on' and other spatial operators
+with RoboSuite objects thanks to mesh extraction.
+"""
+model scenic.simulators.robosuite.model
+
+# Enable mesh extraction for spatial awareness
+param extract_meshes = True
+param scenic_file_dir = localPath(".")
+param render = True
+param camera_view = "frontview"
+
+# Robot at origin
+ego = new Panda at (0, 0, 0)
+
+# Create a table - Scenic knows its surface geometry
+main_table = new Table at (0.6, 0, 0.8),
+    with width 1.0,
+    with length 0.8
+
+# Red box at table surface (Table position is already at surface height)
+red_box = new Box at (0.6, -0.2, 0.85),
+    with color (1, 0, 0, 1),
+    with width 0.05, with length 0.05, with height 0.05
+
+# Green ball also at table surface
+green_ball = new Ball at (0.7, 0.1, 0.85),
+    with color (0, 1, 0, 1),
+    with radius 0.03
+
+# Blue cylinder on top of the red box - stacking works now
+blue_cylinder = new Cylinder on red_box,  # Stack on top of box
+    with color (0, 0, 1, 1),
+    with width 0.04, with length 0.04, with height 0.08
+
+# Custom object with mesh
+custom_xml = """
+<mujoco model="custom_block">
+  <worldbody>
+    <body>
+      <body name="object">
+        <geom name="visual" 
+              type="box" 
+              size="0.08 0.04 0.02" 
+              pos="0 0 0"
+              rgba="0.8 0.8 0.2 1" 
+              group="1"/>
+      </body>
+    </body>
+  </worldbody>
+</mujoco>
+"""
+
+# Yellow block at table surface  
+yellow_block = new CustomObject at (0.5, 0.2, 0.85),
+    with mjcfXml custom_xml
+
+# Complex object (Milk carton) at table surface
+milk = new Milk at (0.8, -0.1, 0.85)
+
+# Spatial constraint - require objects to be visible from robot
+require ego can see red_box
+require ego can see green_ball
+
+# Behavior using spatial awareness
+behavior PickupSequence():
+    """Pick up objects in sequence based on their spatial positions."""
+    # Check which object is closer
+    if distance to red_box < distance to green_ball:
+        do PickAndLift(red_box, height=1.1)
+    else:
+        do PickAndLift(green_ball, height=1.1)
+
+ego.behavior = PickupSequence()
diff --git a/examples/robosuite/stack_lift.scenic b/examples/robosuite/stack_lift.scenic
@@ -0,0 +1,30 @@
+# examples/robosuite/stack_lift.scenic
+model scenic.simulators.robosuite.model
+
+work_table = new Table on (0.6, 0, 0.8),
+    with width 0.6,
+    with length 1.2,
+    with height 0.05
+
+bottom_cube = new Box on work_table,
+    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 on bottom_cube,
+    with color (0.8, 0.2, 0.2, 1)
+
+
+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
+    terminate simulation
+
+ego = new UR5e on (0, 0, 0),
+    with behavior StackLift()