CL_Assets

A directory of assets H12 assets for the correll lab

mujoco_assets/battery/ — battery workcell (RoboCasa sim --task Battery)

• battery_cell.xml — the arena: ARPA cell, battery pack, a row of 36 free-joint screws, walls, floor, lights. No robot; h1_robocasa/battery_env.py builds it around the robosuite H1-2. Loads standalone in view_mjcf.py.
• meshes/ — battery and screw-head meshes used by the arena.
• objects/*.xml — parts placed in the scene. Every file here is merged into the task, so adding a part means adding a file.

Adding an object

Write a standalone MJCF that opens on its own in view_mjcf.py, with one top-level body per part (give it a <freejoint> to make it loose). Examples: objects/orange_fuse_block.xml, objects/hv_busbar_a01.xml.

• The body pos is its world spawn pose. Battery module tops are at z = 0.932 m, the screw-row walls at 0.91 m and the channels between modules at 0.822 m.
• Only the top-level bodies and the assets they use are merged. A floor, lights and <option> for viewing the file on its own can stay; the task skips them.
• Degree or radian angles and <default> classes both work. Mesh and texture files resolve against the file's own meshdir / texturedir.
• Mass and inertia are taken from the file compiled on its own, so the part weighs what it does in view_mjcf.py.
• The sim's viewer and cameras draw geom groups 1-2 only; a geom with no group is group 0 and invisible there. Put visible geoms in group 2 (they still collide), as hv_busbar_a01.xml does through its default class.
• Names (bodies, geoms, joints, materials, meshes) must be unique across the whole scene.
• objects/make_meshes.py builds the fuse block's visual mesh.