Robosuite-Scenic Interface: XML Injection + Mesh Extraction #391
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MJCF XML to MeshShape Conversion for RoboSuite Integration
… canBeTakenBy, simplify OSCPositionAction
PR review changes
Add getProperties() implementation to fetch position, orientation, and robot state from MuJoCo. Partially addresses velocity tracking (works for robots, not for free-joint objects). Fixes: Dynamic property updates for yaw/pitch/roll/position Known issue: Velocity for manipulable objects needs qvel access fix
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Previous PR: #383
This PR combines features from previous PR and new features like xml-injection and mesh-extraction features.
Working Features
Known Limitations
main files to review
src/scenic/simulators/robosuite/simulator.pysrc/scenic/simulators/robosuite/model.scenicTesting
Utility scripts in
utils/:src/scenic/simulators/robosuite/utils/mjcf_to_mesh.py: Standalone MJCF→GLB convertersrc/scenic/simulators/robosuite/utils/default.scenic: scenic native test scriptExample files demonstrate:
examples/robosuite/mesh_test.scenic: Custom STL mesh loadingexamples/robosuite/file_xml.scenic: External XML file referencesexamples/robosuite/custom_mjcf_table.scenic: Inline XML primitives