feat(lite_biped_debug): add the deployment scene wrapper - #14
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lite_biped_debug shipped the generated robot-only MJCF but never the scene wrapper its sibling lite_biped has, so there was no floor and no spawn keyframe to bring it up against. humanoid_control's biped_mujoco.launch now resolves `scene` from the selected robot_variant (defaulting to <variant>_scene) and errors if the file is absent, so `robot_variant:=lite_biped_debug` cannot work without this. Hand-authored, mirroring lite_biped_scene.xml -- the generator emits only the robot-only VARIANT.xml, which mjlab training reuses as-is with its own terrain. Floor friction and the visual block are byte-identical to lite_biped_scene so a lite_biped vs lite_biped_debug run isolates the FOOT and nothing else. The home keyframe differs only in base z: the box foot sits the pelvis 25 mm lower at the same joint angles, so 0.80 -> 0.775 preserves the spawn clearance. Verified in MuJoCo 3.8.1 -- both scenes load with nq=21 / nu=14 / 14 hinges and spawn at 30.6 mm clearance with zero contacts. The 14 leg joint values match the training default pose (= standby_controller_a). Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
A double hyphen is illegal inside an XML comment. MuJoCo's tinyxml2 accepts it, which is why the model loaded fine and the `ros` lane passed, but Python's expat does not -- so tests/test_mesh.py failed to even parse the file at collection. Reworded to a colon, matching how lite_biped_scene.xml phrases the same sentence. Verified with both parsers now: xml.etree parses it, MuJoCo 3.8.1 still loads it (nq=21, nu=14, 30.6 mm spawn gap, 0 contacts), and the full suite passes (1569 passed, 6 skipped). Co-Authored-By: Claude Opus 5 (1M context) <noreply@anthropic.com>
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lite_biped_debugshipped the generated robot-only MJCF but never the scene wrapper its siblinglite_bipedhas — no floor, no spawn keyframe.This blocks merged code: humanoid_control_ros2#24 made
biped_mujoco.launchresolvescenefrom the selectedrobot_variant(defaulting to<variant>_scene) and error if the file is absent. Sorobot_variant:=lite_biped_debugcurrently fails on a fresh clone.Hand-authored, mirroring
lite_biped_scene.xml— the generator emits only the robot-onlyVARIANT.xml, which mjlab training reuses as-is with its own terrain; this wrapper adds the deployment floor + spawn pose.Keeping the A/B honest
Floor friction and the visual block are byte-identical to
lite_biped_scene, so alite_bipedvslite_biped_debugrun isolates the foot and nothing else.The
homekeyframe differs only in base z. The box foot sits the pelvis 25 mm lower at the same joint angles (0.7443 m above the sole vs 0.7693 m), so0.80 → 0.775preserves the spawn clearance.Verification (MuJoCo 3.8.1)
lite_biped_scenelite_biped_debug_scenenq/nu/ hingesIdentical structure and identical spawn clearance — which is what the base-z change was for. The 14 leg joint values match the training default pose (=
standby_controller_a).🤖 Generated with Claude Code