================= Scene Creation ================= This section covers scene creation in DexRobot MuJoCo using the include-based composition system. .. toctree:: :maxdepth: 2 :caption: Contents composition furniture scenery examples Overview -------- The scene system in DexRobot MuJoCo uses MuJoCo's ``include`` directive to compose scenes from modular components: - Scene XML files reference other XML files using ```` - Components are organized into reusable parts - Models maintain separate asset, body, actuator, and sensor definitions Example Scene Structure -------------------- A typical scene XML follows this pattern: .. code-block:: xml Available Components ----------------- Hand Components ^^^^^^^^^^^^^ Located in ``parts/``: - Floating hand components: ``dexhand021_right_floating_*.xml`` - Hand-arm components: e.g., ``dexhand021_right_jaka_zu7_*.xml`` Environment Components ^^^^^^^^^^^^^^^^^^^ Located in ``scenes/scene_sim/``: - ``basic_scene.xml``: Simple environment - ``room_scene.xml``: Indoor room - ``topfloor_scene.xml``: Rooftop environment Furniture Components ^^^^^^^^^^^^^^^^^ Located in ``scenes/furniture_sim/``: - Tables (``simpleTable/``, ``studyTable/``, ``ventionTable/``) - Cabinets (``hingecabinet/``, ``slidecabinet/``) - Appliances (``microwave/``, ``oven/``, ``kettle/``) - Storage (``bin/``, ``counters/``) Component Organization ------------------- Each model typically separates its definitions into: - ``*_asset.xml``: Mesh, texture, and material definitions - ``*_body.xml``: Physical structure and properties - ``*_actuator.xml``: Actuator configurations - ``*_sensor.xml``: Sensor definitions - ``*_contact.xml``: Contact properties This modular organization allows: - Selective inclusion of components - Clear separation of concerns - Reuse across different scenes - Easy modification of individual aspects Next Steps --------- Continue reading: - :doc:`composition` - How to compose scenes using includes - :doc:`furniture` - Available furniture components - :doc:`scenery` - Environment components - :doc:`examples` - Example scene compositions