Merge pull request #3 from sahil-tgs/feature/mesh-extraction

PR review changes

Author: sahil-tgs

examples/robosuite/custom_mjcf_table.scenic

@@ -1,3 +1,4 @@
+# examples/robosuite/custom_mjcf_table.scenic
 """Test with two XML tables and XML cubes on top, positioned in front of robot."""
 model scenic.simulators.robosuite.model
 
@@ -68,19 +69,19 @@ green_cube_xml = """
 
 # Create the first table (brown) - closer to robot
 table1 = new CustomObject on arena_floor,
-    with mjcf_xml table_xml
+    with mjcfXml table_xml
 
 # Create the second table (blue) - farther from robot
 table2 = new CustomObject on arena_floor,
-    with mjcf_xml table_xml
+    with mjcfXml table_xml
 
 
 red_cube = new CustomObject on table1,
-    with mjcf_xml red_cube_xml
+    with mjcfXml red_cube_xml
 
 # Place green cube on second table
 green_cube = new CustomObject on table2,
-    with mjcf_xml green_cube_xml
+    with mjcfXml green_cube_xml
 
 # Robot at origin
 ego = new Panda at (0, 0, 0)

examples/robosuite/file_xml.scenic

@@ -12,5 +12,5 @@ table1 = new Table on arena_floor
 
 # Load bread object from XML file
 bread = new CustomObject on table1,
-    with mjcf_xml "custom_object/bread.xml",
+    with mjcfXml "custom_object/bread.xml",
     with color (0, 1, 1, 1)

examples/robosuite/four_table_workspace.scenic

@@ -66,7 +66,7 @@ arena = new CustomArena,
 
 # Create a yellow ball using custom XML
 yellow_ball = new CustomObject at (0.5, 0.0, 1.0),
-    with mjcf_xml ball_object_xml
+    with mjcfXml ball_object_xml
 
 # Create a red box using built-in Box class for comparison
 red_box = new Box at (0.7, 0.2, 1.0),

examples/robosuite/full_xml_test3.scenic

@@ -42,7 +42,7 @@ table = new Table on arena_floor
 
 # Create dragon - path in XML is relative to this .scenic file
 dragon = new CustomObject on table,
-    with mjcf_xml dragon_object_xml,
+    with mjcfXml dragon_object_xml,
     with color (1, 0, 1, 1)
 
 # Add a simple ball for comparison

examples/robosuite/mesh_test.scenic

@@ -57,7 +57,7 @@ custom_xml = """
 
 # Yellow block at table surface  
 yellow_block = new CustomObject at (0.5, 0.2, 0.85),
-    with mjcf_xml custom_xml
+    with mjcfXml custom_xml
 
 # Complex object (Milk carton) at table surface
 milk = new Milk at (0.8, -0.1, 0.85)

examples/robosuite/spatial_operators_demo.scenic

@@ -1,19 +1,18 @@
 # examples/robosuite/stack_lift.scenic
 model scenic.simulators.robosuite.model
 
-work_table = new Table at (0.6, 0, 0.8),
+work_table = new Table on (0.6, 0, 0.8),
     with width 0.6,
     with length 1.2,
     with height 0.05
 
-bottom_cube = new Box at (0.6, 0, 0.83),
+bottom_cube = new Box on work_table,
     with color (0.2, 0.3, 0.8, 1),
     with width 0.06, with length 0.06, with height 0.06
 
-top_cube = new Box at (0.6, 0, 0.89),
+top_cube = new Box on bottom_cube,
     with color (0.8, 0.2, 0.2, 1)
 
-bottle = new Bottle at (0.6, 0.3, 0.83)
 
 pickup_object = top_cube
 
@@ -25,5 +24,7 @@ behavior StackLift():
         if pickup_object.position.z > 1.0:
             terminate simulation
         wait
-ego = new UR5e at (0, 0, 0),
+    terminate simulation
+
+ego = new UR5e on (0, 0, 0),
     with behavior StackLift()