refactor!: unify env/scenes API across robots and restructure assets #283

Merge pull request #283 from RobotControlStack/feat/unified-env-config-and-assets-refactor

Author: juelg

.codex

@@ -3,11 +3,6 @@ name: Python
 on:
   workflow_call:
   pull_request:
-    paths:
-      - "python/**"
-      - "src/pybind/**"
-      - ".github/workflows/py.yaml"
-      - "extensions/**"
   push:
     branches:
       - master

.github/workflows/ci.yaml

@@ -2,10 +2,6 @@ name: Cpp
 on:
   workflow_call:
   pull_request:
-    paths:
-      - "src/**"
-      - "include/**"
-      - ".github/workflows/cpp.yaml"
   push:
     branches:
       - master
@@ -66,4 +62,3 @@ jobs:
         run: pip install --group dev --group build_deps
       - name: GCC build
         run: make gcccompile PYTHON_EXECUTABLE=${{ steps.setup-python.outputs.python-path }}
-

.github/workflows/cpp.yaml

@@ -58,7 +58,6 @@ FetchContent_Declare(
 )
 
 FetchContent_MakeAvailable(pybind11 Eigen3 egl_headers)
-include(compile_scenes)
 # egl headers
 include_directories(${egl_headers_SOURCE_DIR}/api)
 

CMakeLists.txt

@@ -1,6 +1,8 @@
 PYSRC = python
 CPPSRC = src
 COMPILE_MODE = Release
+LINT_EXCLUDE_RUFF = --exclude examples/teleop/SimPublisher
+LINT_EXCLUDE_MYPY = 'build|examples/teleop/SimPublisher'
 
 # CPP
 cppcheckformat:
@@ -31,6 +33,8 @@ stubgen:
 	find ./python/rcs/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[typing\.Literal\[\([0-9]\+\)\], typing\.Literal\[1\]\]/tuple\[typing\.Literal[\1]\]/g'
 	find ./python/rcs/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[\([M|N]\), typing\.Literal\[1\]\]/tuple\[\1\]/g'
 	sed -i 's/    q_home: numpy\.ndarray\[tuple\[M\], numpy\.dtype\[numpy\.float64\]\] | None/    q_home: numpy.ndarray | None/' python/rcs/_core/common.pyi
+	python -c "from pathlib import Path; p=Path('python/rcs/_core/common.pyi'); t=p.read_text(); t=t.replace('numpy.ndarray[tuple[typing.Literal[2], N], numpy.dtype[numpy.float64]]', 'numpy.ndarray[tuple[typing.Literal[2], typing.Any], numpy.dtype[numpy.float64]]'); p.write_text(t)"
+	python -c "from pathlib import Path; p=Path('python/rcs/_core/sim.pyi'); t=p.read_text(); t=t.replace('numpy.ndarray[tuple[typing.Literal[2], N], numpy.dtype[numpy.float64]]', 'numpy.ndarray[tuple[typing.Literal[2], typing.Any], numpy.dtype[numpy.float64]]'); t=t.replace(', max_buffer_frames: int = 100', ''); p.write_text(t)"
 	python scripts/generate_common_typing.py
 	ruff check --fix python/rcs/_core python/rcs/common_typing.py
 	isort python/rcs/_core python/rcs/common_typing.py
@@ -48,10 +52,10 @@ pyformat:
 pylint: ruff mypy
 
 ruff:
-	ruff check ${PYSRC} extensions examples
+	ruff check ${PYSRC} extensions examples ${LINT_EXCLUDE_RUFF}
 
 mypy:
-	mypy ${PYSRC} extensions examples --install-types --non-interactive --no-namespace-packages --exclude 'build'
+	mypy ${PYSRC} extensions examples --install-types --non-interactive --no-namespace-packages --exclude ${LINT_EXCLUDE_MYPY}
 
 pytest:
 	pytest -vv

Makefile

@@ -55,31 +55,33 @@ from rcs.envs.base import (
     RobotWrapper,
     SimEnv,
 )
+from rcs.envs.scenes import EmptyWorldFR3
 from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper
-from rcs.envs.utils import (
-    default_mujoco_cameraset_cfg,
-    default_sim_gripper_cfg,
-    default_sim_robot_cfg,
-)
 
 import rcs
 from rcs import sim
 
 if __name__ == "__main__":
     # default configs
-    robot_cfg = default_sim_robot_cfg(scene="fr3_empty_world")
-    gripper_cfg = default_sim_gripper_cfg()
-    cameras = default_mujoco_cameraset_cfg()
-    sim_cfg = SimConfig()
-    sim_cfg.realtime = True
-    sim_cfg.async_control = True
-    sim_cfg.frequency = 1  # in Hz (1 sec delay)
-
-    simulation = sim.Sim(robot_cfg.mjcf_scene_path, sim_cfg)
+    scene = EmptyWorldFR3()
+    cfg = scene.prefixed_cfg(scene.config())
+    fr3 = scene.lead_robot_name(cfg)
+
+    robot_cfg = cfg.robot_cfgs[fr3]
+    gripper_cfg = cfg.gripper_cfgs[fr3]  # type: ignore
+    camera_cfgs = cfg.camera_cfgs
+    sim_cfg = SimConfig(
+        realtime=True,
+        async_control=True,
+        frequency=1,  # in Hz (1 sec delay)
+    )
+    mjmodel = scene.create_model(cfg)
+    kinematic_model_path, attachment_site = scene.kinematics_cfg(cfg)[fr3]
+
+    simulation = sim.Sim(mjmodel, sim_cfg)
     ik = rcs.common.Pin(
-        robot_cfg.kinematic_model_path,
-        robot_cfg.attachment_site,
-        urdf=False,
+        kinematic_model_path,
+        attachment_site,
     )
 
     # base env
@@ -89,13 +91,13 @@ if __name__ == "__main__":
 
     # gripper
     gripper = sim.SimGripper(simulation, gripper_cfg)
-    env = GripperWrapper(env, gripper, binary=True)
+    env = GripperWrapper(env, gripper)
 
     env = RobotSimWrapper(env)
     env = GripperWrapperSim(env)
 
     # camera
-    camera_set = SimCameraSet(simulation, cameras, physical_units=True, render_on_demand=True)
+    camera_set = SimCameraSet(simulation, camera_cfgs, physical_units=True, render_on_demand=True)  # type: ignore
     env = CameraSetWrapper(env, camera_set, include_depth=True)  # type: ignore
 
     # relative actions bounded by 10cm translation and 10 degree rotation
@@ -192,3 +194,6 @@ If you find RCS useful for your academic work please consider citing it:
 
 For more scientific information and supplementary videos, visit the **[paper website](https://robotcontrolstack.github.io/)**.
 
+## License
+
+The RCS source code is licensed under AGPL-3.0. A small subset of redistributed third-party robot and sensor assets under `assets/` keeps its original upstream license; the applicable notices are collected in [THIRD_PARTY_ASSET_LICENSES.md](THIRD_PARTY_ASSET_LICENSES.md).