feat(rl): add fixed scene cameras

Author: yushijinhun

demos/demo_assembly.py

@@ -18,7 +18,7 @@
 from bricksim.topology.legolization import legolization_json_to_topology_json, is_legolization_json
 from bricksim.topology.ordering import bfs_sort_connections
 from bricksim.topology.stabletext2brick import bricks_text_to_topology_json, is_bricks_text
-from bricksim.assets import DEFAULT_STAGE_PATH
+from bricksim.assets.stages import DEFAULT_STAGE_PATH
 from bricksim.colors import Colors, parse_color
 from bricksim.core import (
     are_parts_connected,

demos/demo_inhand.py

@@ -14,7 +14,7 @@
 from isaacsim.core.utils.numpy.rotations import quats_to_rot_matrices, rot_matrices_to_quats
 from isaacsim.robot_motion.motion_generation import RmpFlow, ArticulationMotionPolicy
 from isaacsim.robot_motion.motion_generation.interface_config_loader import load_supported_motion_policy_config
-from bricksim.assets import DEFAULT_STAGE_PATH
+from bricksim.assets.stages import DEFAULT_STAGE_PATH
 from bricksim.colors import parse_color
 from bricksim.core import allocate_brick_part, AssemblyThresholds, compute_connection_transform, set_assembly_thresholds
 from bricksim.utils.brick_usd import parse_brick_prim_dimensions

demos/demo_keyboard_teleop.py

@@ -9,7 +9,7 @@
 from isaacsim.core.prims import SingleArticulation, SingleXFormPrim
 from isaacsim.core.utils.types import ArticulationAction
 from isaacsim.core.utils.stage import open_stage_async, add_reference_to_stage
-from bricksim.assets import DEFAULT_STAGE_PATH
+from bricksim.assets.stages import DEFAULT_STAGE_PATH
 from bricksim.colors import parse_color
 from bricksim.core import allocate_brick_part, create_connection
 import time

demos/demo_teleop.py

@@ -14,7 +14,7 @@
 from isaacsim.core.prims import SingleArticulation, SingleXFormPrim, SingleGeometryPrim
 from isaacsim.core.utils.types import ArticulationAction
 from isaacsim.core.utils.stage import open_stage_async, add_reference_to_stage, get_current_stage
-from bricksim.assets import DEFAULT_STAGE_PATH
+from bricksim.assets.stages import DEFAULT_STAGE_PATH
 from bricksim.colors import parse_color
 from bricksim.core import (
     allocate_brick_part,

python/bricksim/_entry.py

@@ -5,7 +5,7 @@ async def _open_default_stage():
     import carb
     from isaacsim.core.utils.stage import get_current_stage, open_stage_async
 
-    from bricksim.assets import DEFAULT_STAGE_PATH
+    from bricksim.assets.stages import DEFAULT_STAGE_PATH
 
     success, error = await open_stage_async(str(DEFAULT_STAGE_PATH))
     if not success:

python/bricksim/assets/__init__.py

@@ -0,0 +1,5 @@
+"""FR3 robot asset path constants."""
+
+from pathlib import Path
+
+FR3_ROBOT_USD_PATH = Path(__file__).resolve().parent / "robot.usda"

python/bricksim/assets/robots/fr3/__init__.py

@@ -49,7 +49,7 @@ over "fr3"
     }
 
     def Xform "D435" (
-        prepend references = @../../sensors/realsense/d435/d435.usd@
+        prepend references = @../../sensors/realsense_d435/d435.usd@
     )
     {
         quatd xformOp:orient = (0.2705980652088784, 0.6532814761687428, 0.2705980652088784, -0.6532814761687428)

python/bricksim/assets/robots/fr3/robot.usda

@@ -40,7 +40,7 @@ async def main():
     package_dir = realsense_ros_dir / "realsense2_description"
     xacro_path = package_dir / "urdf" / "test_d435_camera.urdf.xacro"
     mesh_path = package_dir / "meshes" / "d435.dae"
-    output_path = Path.cwd() / "python" / "bricksim" / "assets" / "sensors" / "realsense" / "d435" / "d435.usd"
+    output_path = Path.cwd() / "python" / "bricksim" / "assets" / "sensors" / "realsense_d435" / "d435.usd"
     output_path.parent.mkdir(parents=True, exist_ok=True)
 
     original_eval_find = xacro.substitution_args._eval_find

…/assets/sensors/realsense/d435/README.md …/assets/sensors/realsense_d435/README.mdpython/bricksim/assets/sensors/realsense/d435/README.md renamed to python/bricksim/assets/sensors/realsense_d435/README.md python/bricksim/assets/sensors/realsense/d435/README.md renamed to python/bricksim/assets/sensors/realsense_d435/README.md

@@ -0,0 +1,19 @@
+"""RealSense D435 asset paths and camera calibration defaults."""
+
+from pathlib import Path
+
+D435_USD_PATH = Path(__file__).resolve().parent / "d435.usd"
+
+# Nominal D435 color intrinsics at 1280x720.
+# Storage: row-major 3x3 pinhole matrix.
+D435_DEFAULT_COLOR_INTRINSICS_1280_720 = [
+    924.277380,
+    0.0,
+    640.0,
+    0.0,
+    925.738464,
+    360.0,
+    0.0,
+    0.0,
+    1.0,
+]