refactor: Remove private scenes, add public assets (#182)

* Remove private scenes, add public assets

Assets than can be shared are added in the assets dir. 

UTN scenes integration with the token etc. is removed.
Included scenes are compiled and the binary .mjb file is added to the
pip package.

The global rcsss.scenes dict now contains, for each scene, the paths to
the .mjb and the path to the .urdf.

* Removed model download from build

* Build _core and franka only in makefile

Author: pkrack

.gitattributes

@@ -0,0 +1,2 @@
+.stl filter=lfs diff=lfs merge=lfs -text
+.obj filter=lfs diff=lfs merge=lfs -text

.github/workflows/py.yaml

@@ -46,10 +46,6 @@ jobs:
         run: python -m pip install -r requirements_dev.txt
       - name: Install wheel
         run: python -m pip install wheel
-      - name: Download the models using cmake
-        env:
-          MODEL_TOKEN: ${{ secrets.MODEL_TOKEN }}
-        run: cmake -G Ninja -B build -DINCLUDE_UTN_MODELS=ON -DGITLAB_MODELS_TOKEN="$MODEL_TOKEN" -DMUJOCO_VERSION=3.1.5
       - name: Install the package
         run: python -m pip install --no-build-isolation .
       - name: Code linting

CMakeLists.txt

@@ -41,8 +41,6 @@ set(RL_BUILD_EXTRAS OFF)
 set(BUILD_PYTHON_INTERFACE OFF)
 set(BUILD_DOCUMENTATION OFF)
 
-option(INCLUDE_UTN_MODELS "Whether to include the private UTN models. Requires GITLAB_MODELS_TOKEN to be set to a valid token wit read_api permissions" OFF)
-
 include(FetchContent)
 
 find_package(Eigen3 REQUIRED)
@@ -94,22 +92,6 @@ target_link_libraries(mujoco_ui_lib MuJoCo::MuJoCo glfw)
 target_include_directories(mujoco_ui_lib INTERFACE ${MuJoCo_UI_DIR})
 
 FetchContent_MakeAvailable(libfranka rl pybind11)
-
-if (${INCLUDE_UTN_MODELS})
-    if (DEFINED GITLAB_MODELS_TOKEN)
-        include(download_scenes)
-        set(ref 055a6fdab480dde8443030236012f76d9be90918)
-        FetchContent_Declare(
-            scenes
-            URL         "https://gitos.rrze.fau.de/api/v4/projects/1100/repository/archive?path=scenes&sha=${ref}"
-            HTTP_HEADER "PRIVATE-TOKEN: ${GITLAB_MODELS_TOKEN}"
-        )
-        FetchContent_MakeAvailable(scenes)
-        resolve_symlinks(${ref})
-    else()
-      message(FATAL_ERROR "GITLAB_MODELS_TOKEN missing. Not including lab scene")
-    endif()
-endif()
 include(compile_scenes)
 
 add_subdirectory(src)

Makefile

@@ -15,12 +15,12 @@ cpplint:
 gcccompile: 
 	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=gcc -DCMAKE_CXX_COMPILER=g++ -B build -G Ninja
-	cmake --build build
+	cmake --build build --target _core franka
 
 clangcompile: 
 	pip install --upgrade --requirement requirements_dev.txt
 	cmake -DCMAKE_BUILD_TYPE=${COMPILE_MODE} -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++ -B build -G Ninja
-	cmake --build build
+	cmake --build build --target _core franka
 
 # Auto generation of CPP binding stub files
 stubgen:

README.md

@@ -15,10 +15,6 @@ source .venv/bin/activate
 pip install -r requirements_dev.txt
 pip config --site set global.no-build-isolation false
 ```
-2.5 (optional) include UTN models if you have an access token
-```shell
-pip config --site set install.config-settings "cmake.args=-DINCLUDE_UTN_MODELS=ON;-DGITLAB_MODELS_TOKEN=<token>"
-```
 3. Build and install RCS:
 ```shell
 pip install -ve .

assets/cameras/real_sense/mjcf/d435i.xml

@@ -0,0 +1,60 @@
+<mujoco model="d435i">
+  <compiler meshdir="../obj" fitaabb="true"/>
+
+  <visual>
+    <global azimuth="90" elevation="-90"/>
+  </visual>
+
+  <default>
+    <default class="d435i">
+      <material specular="0" shininess="0.25"/>
+      <default class="visual">
+        <geom group="2" type="mesh" contype="0" conaffinity="0" mass="0"/>
+      </default>
+      <default class="collision">
+        <geom group="3" type="mesh" mass="0"/>
+      </default>
+    </default>
+  </default>
+
+  <asset>
+    <material class="d435i" name="Black_Acrylic" rgba="0.070360 0.070360 0.070360 1"/>
+    <material class="d435i" name="Cameras_Gray" rgba="0.296138 0.296138 0.296138 1"/>
+    <material class="d435i" name="IR_Emitter_Lens" rgba="0.287440 0.665387 0.327778 1"/>
+    <material class="d435i" name="IR_Lens" rgba="0.035601 0.035601 0.035601 1"/>
+    <material class="d435i" name="IR_Rim" rgba="0.799102 0.806952 0.799103 1"/>
+    <material class="d435i" name="Metal_Casing" rgba="1 1 1 1"/>
+    <material class="d435i" name="RGB_Pupil" rgba="0.087140 0.002866 0.009346 1"/>
+
+    <mesh file="d435i_0.obj"/>
+    <mesh file="d435i_1.obj"/>
+    <mesh file="d435i_2.obj"/>
+    <mesh file="d435i_3.obj"/>
+    <mesh file="d435i_4.obj"/>
+    <mesh file="d435i_5.obj"/>
+    <mesh file="d435i_6.obj"/>
+    <mesh file="d435i_7.obj"/>
+    <mesh file="d435i_8.obj"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <body name="d435i" childclass="d435i">
+      <geom mesh="d435i_0" material="IR_Lens" class="visual"/>
+      <geom mesh="d435i_1" material="IR_Emitter_Lens" class="visual"/>
+      <geom mesh="d435i_2" material="IR_Rim" class="visual"/>
+      <geom mesh="d435i_3" material="IR_Lens" class="visual"/>
+      <geom mesh="d435i_4" material="Cameras_Gray" class="visual"/>
+      <geom mesh="d435i_5" material="Black_Acrylic" class="visual"/>
+      <geom mesh="d435i_6" material="Black_Acrylic" class="visual"/>
+      <geom mesh="d435i_7" material="RGB_Pupil" class="visual"/>
+      <geom mesh="d435i_8" mass="0.072" material="Metal_Casing" class="visual"/>
+      <geom class="collision" type="capsule" mesh="d435i_8"/>
+      <!-- camera offset can be lookup on the datasheet on page 96: https://www.intelrealsense.com/wp-content/uploads/2024/10/Intel-RealSense-D400-Series-Datasheet-October-2024.pdf -->
+      <camera name="wrist_0" mode="fixed" pos="0.0325 0 0" euler="0 180 0" resolution="1920 1080"/>
+      <!-- <body pos="0.0325 0 0">
+          <geom type="sphere" size="0.01" rgba="1 1 0 1" />
+      </body> -->
+    </body>
+  </worldbody>
+</mujoco>