Scene Creation

This section covers scene creation in DexRobot MuJoCo using the include-based composition system.

Contents

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 <include>

  • 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:

<?xml version="1.0" encoding="utf-8"?>
<mujoco model="scene_name">
    <!-- Include defaults -->
    <include file="../parts/defaults.xml"/>

    <!-- Include assets -->
    <include file="scene_sim/environment_scene.xml"/>
    <include file="furniture_sim/table/table_asset.xml"/>
    <include file="../parts/dexhand021_right_floating_asset.xml"/>

    <!-- Define scene hierarchy -->
    <worldbody>
        <!-- Add hand -->
        <body name="floating_hand_base" pos="0 0 1.2">
            <include file="../parts/dexhand021_right_floating_body.xml"/>
        </body>

        <!-- Add furniture -->
        <body name="table" pos="0 0 0">
            <include file="furniture_sim/table/table_body.xml"/>
        </body>

        <!-- Add objects -->
        <body name="object" pos="0 0 0.8">
            <!-- Object definition -->
        </body>
    </worldbody>

    <!-- Include additional components -->
    <include file="../parts/dexhand021_right_floating_actuator.xml"/>
    <include file="../parts/dexhand021_right_floating_sensor.xml"/>
    <include file="../parts/dexhand021_right_floating_contact.xml"/>
</mujoco>

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

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