Standardize arm + pedestal as an attachable component#42
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Add openarm_pedestal.xml (pedestal geoms + bimanual arms attached at z=0.698) and convert pedestal.xml and all seven task scenes to attach it instead of duplicating the pedestal material/meshes/geoms/attach frame. Compiled models are identical to the previous versions (verified with MuJoCo 3.8.1: sizes, names, kinematics, contact params, actuators, equalities, keyframes). Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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Pull request overview
This PR factors the repeated “bimanual arms + pedestal base at z=0.698” boilerplate out of all v2 scenes into a single attachable MJCF component, reducing duplication while keeping the compiled models equivalent to prior scene definitions.
Changes:
- Added a new attachable component
v2/openarm_pedestal.xmlthat encapsulates the pedestal geoms and the bimanual arm attachment frame. - Updated
v2/pedestal.xmland all 7 v2 task scenes to attach the new component instead of duplicating pedestal assets/geoms/frame setup. - Added a design/spec doc describing the decision, design, and verification approach.
Reviewed changes
Copilot reviewed 9 out of 9 changed files in this pull request and generated no comments.
Show a summary per file
| File | Description |
|---|---|
| v2/valve_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml. |
| v2/tool_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml. |
| v2/peg_socket_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml. |
| v2/pedestal.xml | Converts standalone pedestal viewer scene to attach the new arm_pedestal component. |
| v2/openarm_pedestal.xml | New attachable component bundling pedestal geoms/assets and the bimanual attachment frame. |
| v2/move_puck_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml. |
| v2/bottle_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml (retains scene-specific visual defaults). |
| v2/balance_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml. |
| v2/articulated_scene.xml | Replaces in-scene pedestal + bimanual boilerplate with an attach of openarm_pedestal.xml. |
| docs/superpowers/specs/2026-07-08-arm-pedestal-component-design.md | Documents the rationale, design constraints, and verification steps for the refactor. |
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k1000dai
marked this pull request as ready for review
July 8, 2026 01:44
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|
@Manas-arumalla What do you think about this? |
Contributor
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Looks good to me! I verified on my side as well. Nice cleanup. |
Manas-arumalla
added a commit
to Manas-arumalla/openarm-control
that referenced
this pull request
Jul 8, 2026
Add openarm_pedestal.xml (pedestal meshes + base geoms + the z=0.698 arm attach) and convert the scenes to include it with two lines instead of duplicating the block: <asset><model name="arm_pedestal" file="openarm_pedestal.xml"/></asset> <worldbody><attach model="arm_pedestal" prefix=""/></worldbody> Mirrors the upstream refactor (enactic/openarm_mujoco#42). The component's default classes are namespaced (pedestal_visual / pedestal_collision); the link0 material still comes from openarm_v20_bimanual.xml. 29 scenes converted -- each compiles byte-identical to before (full mj_printModel dumps compared, MuJoCo 3.8.1; 165 tests green). scanned_table_scene.xml is left inline on purpose: it declares its own scanned-object meshes, so moving link0 into the attached component renumbers mesh ids (behaviourally identical, but not byte-identical).
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Thanks! |
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Add openarm_pedestal.xml (pedestal geoms + bimanual arms attached at z=0.698) and convert pedestal.xml and all seven task scenes to attach it instead of duplicating the pedestal material/meshes/geoms/attach frame. Compiled models are identical to the previous versions (verified with MuJoCo 3.8.1: sizes, names, kinematics, contact params, actuators, equalities, keyframes).