Remove private scenes, add public assets

.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>