From d2b70dfa4e2e9a59d41fe9e13540f6a08a73ea6f Mon Sep 17 00:00:00 2001
From: Manas Reddy <94293630+Manas-arumalla@users.noreply.github.com>
Date: Sun, 5 Jul 2026 14:49:09 +0200
Subject: [PATCH 1/2] Add task scenes: compliant contact, pushing, tool use,
bottle-cap unscrewing
---
v2/bottle_scene.xml | 130 +++++++++++++++++++++++++++++++++++++++++++
v2/contact_scene.xml | 105 ++++++++++++++++++++++++++++++++++
v2/push_scene.xml | 110 ++++++++++++++++++++++++++++++++++++
v2/tool_scene.xml | 119 +++++++++++++++++++++++++++++++++++++++
4 files changed, 464 insertions(+)
create mode 100644 v2/bottle_scene.xml
create mode 100644 v2/contact_scene.xml
create mode 100644 v2/push_scene.xml
create mode 100644 v2/tool_scene.xml
diff --git a/v2/bottle_scene.xml b/v2/bottle_scene.xml
new file mode 100644
index 0000000..716fb55
--- /dev/null
+++ b/v2/bottle_scene.xml
@@ -0,0 +1,130 @@
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diff --git a/v2/contact_scene.xml b/v2/contact_scene.xml
new file mode 100644
index 0000000..d3cbedb
--- /dev/null
+++ b/v2/contact_scene.xml
@@ -0,0 +1,105 @@
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diff --git a/v2/push_scene.xml b/v2/push_scene.xml
new file mode 100644
index 0000000..ba3adcd
--- /dev/null
+++ b/v2/push_scene.xml
@@ -0,0 +1,110 @@
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diff --git a/v2/tool_scene.xml b/v2/tool_scene.xml
new file mode 100644
index 0000000..7a304fc
--- /dev/null
+++ b/v2/tool_scene.xml
@@ -0,0 +1,119 @@
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From 346d6306237e5d1418eafb003b5d0570136a374b Mon Sep 17 00:00:00 2001
From: Manas Reddy <94293630+Manas-arumalla@users.noreply.github.com>
Date: Mon, 6 Jul 2026 11:58:04 +0200
Subject: [PATCH 2/2] Address review: drop the contact scene, generalize
pushing to move-puck
- contact_scene.xml removed: without a controller driving it the scene
carries no task of its own.
- push_scene.xml renamed to move_puck_scene.xml and the description
broadened: the puck-on-goal setup works for pushing and for
pick-and-place alike. Scene physics untouched (comments and model name
only); re-verified from the home keyframe: puck pushed to 9.692 mm of
goal_a, identical across two runs.
---
v2/contact_scene.xml | 105 ---------------------
v2/{push_scene.xml => move_puck_scene.xml} | 12 +--
2 files changed, 6 insertions(+), 111 deletions(-)
delete mode 100644 v2/contact_scene.xml
rename v2/{push_scene.xml => move_puck_scene.xml} (91%)
diff --git a/v2/contact_scene.xml b/v2/contact_scene.xml
deleted file mode 100644
index d3cbedb..0000000
--- a/v2/contact_scene.xml
+++ /dev/null
@@ -1,105 +0,0 @@
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diff --git a/v2/push_scene.xml b/v2/move_puck_scene.xml
similarity index 91%
rename from v2/push_scene.xml
rename to v2/move_puck_scene.xml
index ba3adcd..ef1dee2 100644
--- a/v2/push_scene.xml
+++ b/v2/move_puck_scene.xml
@@ -15,12 +15,12 @@ limitations under the License.
-->
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@@ -78,8 +78,8 @@ grasping involved.
friction="1 0.005 0.0001" contype="1" conaffinity="1" />
-
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