feat(scene_management)!: add mjcf & assets

cmake/compile_scenes.cmake

@@ -40,6 +40,16 @@ foreach(scene_dir ${scene_dirs})
     foreach(urdf ${urdfs})
         install(FILES ${urdf} DESTINATION rcsss/scenes/${scene_name} COMPONENT python_package)
     endforeach()
+
+    # Install xml files
+    foreach(xml ${xml_files})
+        install(FILES ${xml} DESTINATION rcsss/scenes/${scene_name} COMPONENT python_package)
+    endforeach()
+
+    # Install assets
+    foreach(asset ${asset_files})
+        install(FILES ${asset} DESTINATION rcsss/scenes/${scene_name}/assets COMPONENT python_package)
+    endforeach()
 endforeach()
 
 # Create a custom target that depends on all generated .mjb files

python/examples/fr3.py

@@ -66,7 +66,7 @@ def main():
         robot: rcsss.common.Robot
         gripper: rcsss.common.Gripper
         if ROBOT_INSTANCE == RobotInstance.SIMULATION:
-            simulation = sim.Sim(rcsss.scenes["fr3_empty_world"])
+            simulation = sim.Sim(rcsss.scenes["fr3_empty_world"]["mjb"])
             urdf_path = get_urdf_path(URDF_PATH, allow_none_if_not_found=False)
             assert urdf_path is not None
             ik = rcsss.common.IK(urdf_path)

python/rcsss/__init__.py

@@ -2,17 +2,39 @@
 
 import pathlib
 import site
+from typing import TypedDict
+from warnings import warn
 
 from gymnasium import register
 from rcsss import camera, control, envs, sim
 from rcsss._core import __version__, common, hw
 from rcsss.envs.factories import FR3Real, FR3SimplePickUpSim
 
-# available mujoco scenes
-scenes = {
-    path.stem: path / "scene.mjb" for path in (pathlib.Path(site.getsitepackages()[0]) / "rcsss" / "scenes").glob("*")
+
+class SceneData(TypedDict):
+    xml: pathlib.Path
+    mjb: pathlib.Path
+    urdfs: dict[str, pathlib.Path]
+
+
+scenes: dict[str, SceneData] = {
+    path.stem: {
+        "xml": path / "scene.xml",
+        "mjb": path / "scene.mjb",
+        "urdfs": {urdf.stem: urdf for urdf in path.glob("*.urdf")},
+    }
+    for path in (pathlib.Path(site.getsitepackages()[0]) / "rcsss" / "scenes").glob("*")
 }
 
+for _ in scenes.values():
+    if not _["xml"].exists():
+        warn(f"Missing XML scene file {_['xml']}", stacklevel=2)
+    if not _["mjb"].exists():
+        warn(f"Missing mjb scene file {_['mjb']}", stacklevel=2)
+    for __ in _["urdfs"].values():
+        if not __.exists():
+            warn(f"Missing urdf file {__}", stacklevel=2)
+
 # make submodules available
 __all__ = ["__doc__", "__version__", "common", "hw", "sim", "camera", "scenes", "control", "envs"]
 

python/rcsss/envs/factories.py

@@ -68,7 +68,7 @@ def default_realsense(name2id: dict[str, str] | None) -> RealSenseCameraSet | No
 
 def get_urdf_path(urdf_path: str | PathLike | None, allow_none_if_not_found: bool = False) -> str | None:
     if urdf_path is None and "lab" in rcsss.scenes:
-        urdf_path = rcsss.scenes["lab"].parent / "fr3.urdf"
+        urdf_path = rcsss.scenes["lab"]["urdfs"]["fr3"]
         assert urdf_path.exists(), "Automatic deduced urdf path does not exist. Corrupted models directory."
         logger.info("Using automatic found urdf.")
     elif urdf_path is None and not allow_none_if_not_found:
@@ -134,7 +134,11 @@ def fr3_hw_env(
         assert urdf_path is not None
         env = CollisionGuard.env_from_xml_paths(
             env,
-            str(rcsss.scenes.get(str(collision_guard), collision_guard)),
+            str(
+                rcsss.scenes[collision_guard]["mjb"]
+                if isinstance(collision_guard, str) and collision_guard in rcsss.scenes
+                else collision_guard
+            ),
             urdf_path,
             gripper=True,
             check_home_collision=False,
@@ -209,10 +213,12 @@ def fr3_sim_env(
     """
     urdf_path = get_urdf_path(urdf_path, allow_none_if_not_found=False)
     assert urdf_path is not None
-    if mjcf not in rcsss.scenes:
+    if isinstance(mjcf, str) and mjcf in rcsss.scenes:
+        mjcf = rcsss.scenes[mjcf]["mjb"]
+    else:
         logger.warning("mjcf not found as key in scenes, interpreting mjcf as path the mujoco scene xml")
 
-    simulation = sim.Sim(rcsss.scenes.get(str(mjcf), mjcf))
+    simulation = sim.Sim(mjcf)
     ik = rcsss.common.IK(urdf_path)
     robot = rcsss.sim.FR3(simulation, "0", ik)
     robot.set_parameters(robot_cfg)
@@ -230,7 +236,7 @@ def fr3_sim_env(
     if collision_guard:
         env = CollisionGuard.env_from_xml_paths(
             env,
-            str(rcsss.scenes.get(str(mjcf), mjcf)),
+            str(rcsss.scenes[mjcf]["mjb"] if isinstance(mjcf, str) and mjcf in rcsss.scenes else mjcf),
             urdf_path,
             gripper=gripper_cfg is not None,
             check_home_collision=False,