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Add three task scenes: move puck, tool use, bottle-cap unscrewing #41

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Merged
kou merged 2 commits into from
Jul 6, 2026
Merged

Add three task scenes: move puck, tool use, bottle-cap unscrewing #41

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d2b70df
Add task scenes: compliant contact, pushing, tool use, bottle-cap uns…
Manas-arumalla Jul 5, 2026
346d630
Address review: drop the contact scene, generalize pushing to move-puck
Manas-arumalla Jul 6, 2026
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130 changes: 130 additions & 0 deletions v2/bottle_scene.xml
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<!--
Copyright 2026 Enactic, Inc.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->

<!--
Bottle cap: a bottle held in a table fixture, with a threaded cap. The cap's
turn (hinge) and rise (slide) joints are coupled like a screw thread, so
turning it counterclockwise lifts it off the neck. Inactive grasp welds on
the cap let either arm grasp and unscrew it.
-->
<mujoco model="openarm_v20_bottle">
<compiler meshdir="assets" angle="radian"/>

<default>
<default class="visual">
<geom contype="0" conaffinity="0" group="2"/>
</default>
<default class="collision">
<geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01"/>
</default>
<default class="fixture">
<geom type="box" contype="1" conaffinity="1" friction="1 0.01 0.01" rgba="0.55 0.45 0.32 1"/>
</default>
</default>

<statistic center="0.30 0 0.55" extent="1.2" meansize="0.05"/>
<option timestep="0.001"/>

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="150" elevation="-20"/>
<quality shadowsize="8192"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.55 0.55 0.58" rgb2="0.2 0.2 0.2" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.38 0.38 0.4" rgb2="0.3 0.3 0.32"
markrgb="0.6 0.6 0.6" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>

<material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
<mesh name="body_link0" content_type="model/stl" file="visual/body/body_link0.stl" scale="0.001 0.001 0.001"/>
<mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001"/>

<model name="bimanual" file="openarm_bimanual.xml"/>
</asset>

<worldbody>
<light pos="0 0 2" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>

<camera name="tablecam" pos="0.30 0.0 1.30" xyaxes="1 0 0 0 1 0" fovy="60"/>
<camera name="frontcam" pos="1.05 0.0 0.90" xyaxes="0 -1 0 0.3 0 1" fovy="55"/>

<geom name="openarm_body_link0_visual" type="mesh" mesh="body_link0" class="visual" material="openarm_body_link0_material"/>
<geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision"/>

<frame pos="0 0 0.698">
<attach model="bimanual" prefix=""/>
</frame>

<!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
layouts carry over; the cell mounts the arms on a lifter above the
table, so absolute heights differ. -->
<body name="table" pos="0.47 0.0 0.36">
<geom name="table_top" type="box" size="0.41 0.55 0.04" rgba="0.82 0.71 0.55 1"
friction="1 0.005 0.0001" contype="1" conaffinity="1"/>
</body>

<!-- BOTTLE: held in a clamp on the table so unscrewing torque cannot spin it.
The cap turns about the vertical axis and the thread coupling (equality
below, 15 mm per turn) lifts it as it unscrews; two full turns free it. -->
<body name="bottle" pos="0.30 0.0 0.40">
<geom name="bottle_clamp" class="fixture" size="0.038 0.038 0.011" pos="0 0 0.011"/>
<geom name="bottle_body" type="cylinder" size="0.030 0.019" pos="0 0 0.041"
rgba="0.25 0.45 0.55 1" contype="1" conaffinity="1"/>
<!-- The neck sits inside the cap like a real threaded pair, so it must not
collide with it; grasps target the cap, which stays collidable. -->
<geom name="bottle_neck" type="cylinder" size="0.0115 0.015" pos="0 0 0.075"
rgba="0.25 0.45 0.55 1" class="visual"/>
<body name="bottle_cap" pos="0 0 0.075">
<!-- The turn joint is unlimited (hinge limits wrap beyond one revolution);
the slide's range bounds it through the thread coupling instead, like
threads running out. Armature is the thread's reflected inertia. -->
<joint name="cap_turn" type="hinge" axis="0 0 1" damping="0.05" frictionloss="0.02" armature="0.001"/>
<joint name="cap_rise" type="slide" axis="0 0 1" range="0 0.032" damping="0.5" armature="0.001"/>
<geom name="cap_grip" type="cylinder" fromto="0 0 -0.012 0 0 0.018" size="0.0125" mass="0.02"
rgba="0.75 0.25 0.2 1" contype="1" conaffinity="1"/>
<!-- Off-center tab on the cap's top face so the turn reads on camera. -->
<geom name="cap_mark" type="box" size="0.006 0.0018 0.0008" pos="0.006 0 0.0188" mass="0.001"
rgba="0.95 0.85 0.3 1" class="visual"/>
</body>
</body>

</worldbody>

<equality>
<!-- Screw thread: cap rise = 15 mm per full counterclockwise turn. -->
<joint name="cap_thread" joint1="cap_rise" joint2="cap_turn" polycoef="0 0.0023873 0 0 0" solref="0.005 1"/>
<weld name="grasp_right_cap" body1="openarm_right_ee_base_link" body2="bottle_cap" active="false" solref="0.02 1"/>
<weld name="grasp_left_cap" body1="openarm_left_ee_base_link" body2="bottle_cap" active="false" solref="0.02 1"/>
</equality>

<keyframe>
<!-- nq = left arm(0-8) + right arm(9-17) + cap turn/rise(18-19) = 20.
Arms at the shared "home" pose (same as pedestal.xml, with ctrl set so
the position actuators hold it); cap screwed down. -->
<key name="home"
qpos="0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
0 0"
ctrl="0 0 0 1.570796 0 0 0 0
0 0 0 1.570796 0 0 0 0"/>
</keyframe>

</mujoco>
110 changes: 110 additions & 0 deletions v2/move_puck_scene.xml
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<!--
Copyright 2026 Enactic, Inc.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->

<!--
Move a puck to a goal: a low puck on the table and two goal markers. The
puck can be pushed to a goal with the closed gripper, or grasped and placed
(pick-and-place) -- a small target for either style of manipulation.
-->

<mujoco model="openarm_v20_move_puck">
<compiler meshdir="assets" angle="radian"/>

<default>
<default class="visual">
<geom contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
</default>
</default>

<statistic center="0 0 0.6" extent="1.1" meansize="0.05"/>
<option timestep="0.001" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="150" elevation="-20"/>
<quality shadowsize="8192"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.55 0.55 0.58" rgb2="0.2 0.2 0.2" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.38 0.38 0.4" rgb2="0.3 0.3 0.32"
markrgb="0.6 0.6 0.6" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>

<material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
<mesh name="body_link0" content_type="model/stl" file="visual/body/body_link0.stl" scale="0.001 0.001 0.001" />
<mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />

<model name="bimanual" file="openarm_bimanual.xml"/>
</asset>

<worldbody>
<light pos="0 0 2" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>

<camera name="tablecam" pos="0.26 -0.18 1.15" xyaxes="1 0 0 0 1 0" fovy="60"/>
<camera name="frontcam" pos="0.95 -0.18 0.85" xyaxes="0 -1 0 0.3 0 1" fovy="55"/>

<geom name="openarm_body_link0_visual" type="mesh" mesh="body_link0" class="visual" material="openarm_body_link0_material" />
<geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision" />

<frame pos="0 0 0.698">
<attach model="bimanual" prefix=""/>
</frame>

<!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
cell workspace table in cell.xml (0.41 x 0.55 half-extents) so tabletop
layouts carry over; the cell mounts the arms on a lifter above the
table, so absolute heights differ. -->
<body name="table" pos="0.47 0.0 0.36">
<geom name="table_top" type="box" size="0.41 0.55 0.04" rgba="0.82 0.71 0.55 1"
friction="1 0.005 0.0001" contype="1" conaffinity="1" />
</body>

<!-- A low puck (70 x 70 x 44 mm) to push or grasp, centered between the
grippers, clear of their home-pose zone. -->
<body name="puck" pos="0.30 0.0 0.422">
<freejoint />
<geom name="puck_geom" type="box" size="0.035 0.035 0.022" rgba="0.85 0.4 0.1 1"
mass="0.12" friction="0.9 0.01 0.001" contype="1" conaffinity="1" />
</body>

<!-- Goal regions (visual markers, non-colliding). -->
<body name="goal_a" pos="0.44 -0.16 0.401">
<site name="goal_a_site" type="cylinder" size="0.05 0.001" rgba="0.2 0.8 0.3 0.4"/>
</body>
<body name="goal_b" pos="0.44 0.16 0.401">
<site name="goal_b_site" type="cylinder" size="0.05 0.001" rgba="0.3 0.5 0.9 0.4"/>
</body>
</worldbody>

<keyframe>
<!-- nq = left arm(0-8) + right arm(9-17) + puck(18-24) = 25. Arms at the
shared "home" pose (same as pedestal.xml, with ctrl set so the
position actuators hold it); puck resting on the table. -->
<key name="home"
qpos="0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
0.30 0.0 0.422 1 0 0 0"
ctrl="0 0 0 1.570796 0 0 0 0
0 0 0 1.570796 0 0 0 0"/>
</keyframe>

</mujoco>
119 changes: 119 additions & 0 deletions v2/tool_scene.xml
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<!--
Copyright 2026 Enactic, Inc.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
-->

<!--
Tool use / reach extension: a long stick the robot can grasp (inactive weld)
and use to push a block that sits beyond the bare gripper's reach onto an
even farther goal marker.
-->

<mujoco model="openarm_v20_tool">
<compiler meshdir="assets" angle="radian"/>

<default>
<default class="visual">
<geom contype="0" conaffinity="0" group="2" />
</default>
<default class="collision">
<geom condim="3" conaffinity="1" priority="1" group="3" solref="0.005 1" friction="1 0.01 0.01" />
</default>
</default>

<statistic center="0 0 0.6" extent="1.2" meansize="0.05"/>
<option timestep="0.001" />

<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="150" elevation="-20"/>
<quality shadowsize="8192"/>
</visual>

<asset>
<texture type="skybox" builtin="gradient" rgb1="0.55 0.55 0.58" rgb2="0.2 0.2 0.2" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.38 0.38 0.4" rgb2="0.3 0.3 0.32"
markrgb="0.6 0.6 0.6" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>

<material name="openarm_body_link0_material" rgba="0.247 0.247 0.247 1.0" reflectance="0.05" shininess="0.5"/>
<mesh name="body_link0" content_type="model/stl" file="visual/body/body_link0.stl" scale="0.001 0.001 0.001" />
<mesh name="body_link0_symp" content_type="model/stl" file="collision/body_link0_symp.stl" scale="0.001 0.001 0.001" />

<model name="bimanual" file="openarm_bimanual.xml"/>
</asset>

<worldbody>
<light pos="0 0 2" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>

<camera name="tablecam" pos="0.34 -0.14 1.3" xyaxes="1 0 0 0 1 0" fovy="64"/>
<camera name="frontcam" pos="1.05 -0.26 0.9" xyaxes="0 -1 0 0.3 0 1" fovy="58"/>

<geom name="openarm_body_link0_visual" type="mesh" mesh="body_link0" class="visual" material="openarm_body_link0_material" />
<geom name="openarm_body_link0_collision" type="mesh" mesh="body_link0_symp" class="collision" />

<frame pos="0 0 0.698">
<attach model="bimanual" prefix=""/>
</frame>

<!-- Table: top at z=0.40, centered on the arm (y=0). Footprint matches the
cell workspace table in cell.xml (0.41 x 0.55 half-extents); wide enough
that the far block + goal sit well past the bare-arm reach. -->
<body name="table" pos="0.47 0.0 0.36">
<geom name="table_top" type="box" size="0.41 0.55 0.04" rgba="0.82 0.71 0.55 1"
friction="1 0.005 0.0001" contype="1" conaffinity="1" />
</body>

<!-- The stick (360 mm long, along x), grasped at its centre and used as a pusher
that extends the reach forward. The tool lane sits at y=-0.26, outside the
band the right fingers settle over from the home keyframe. -->
<body name="stick" pos="0.22 -0.26 0.414">
<freejoint />
<geom name="stick_geom" type="box" size="0.18 0.013 0.014" rgba="0.55 0.35 0.15 1"
mass="0.06" friction="1 0.01 0.001" contype="1" conaffinity="1" />
</body>

<!-- Block to move, just past the gripper's top-down reach (~0.36 m). -->
<body name="block" pos="0.46 -0.26 0.423">
<freejoint />
<geom name="block_geom" type="box" size="0.03 0.03 0.023" rgba="0.2 0.55 0.85 1"
mass="0.1" friction="0.6 0.01 0.001" contype="1" conaffinity="1" />
</body>

<!-- Far goal (out of bare reach; reachable only via the stick's tip). -->
<body name="goal" pos="0.52 -0.26 0.401">
<site name="goal_site" type="cylinder" size="0.05 0.001" rgba="0.2 0.8 0.3 0.4"/>
</body>
</worldbody>

<equality>
<weld name="grasp_right_stick" body1="openarm_right_ee_base_link" body2="stick" active="false" solref="0.02 1"/>
</equality>

<keyframe>
<!-- nq = left arm(0-8) + right arm(9-17) + stick(18-24) + block(25-31) = 32.
Arms at the shared "home" pose (same as pedestal.xml, with ctrl set so
the position actuators hold it); stick and block resting on the table. -->
<key name="home"
qpos="0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
0.0 0.0 0.0 1.570796 0.0 0.0 0.0 0.0 0.0
0.22 -0.26 0.414 1 0 0 0
0.46 -0.26 0.423 1 0 0 0"
ctrl="0 0 0 1.570796 0 0 0 0
0 0 0 1.570796 0 0 0 0"/>
</keyframe>

</mujoco>