Refactorings

.vscode/launch.json

@@ -8,7 +8,7 @@
             "name": "Test realsense",
             "type": "debugpy",
             "request": "launch",
-            "module": "rcsss",
+            "module": "rcs",
             "console": "integratedTerminal",
             "args": ["realsense", "test", "config.yaml"],
             "justMyCode": true,
@@ -17,7 +17,7 @@
             "name": "Record with realsense",
             "type": "debugpy",
             "request": "launch",
-            "module": "rcsss",
+            "module": "rcs",
             "console": "integratedTerminal",
             "args": ["realsense", "test-record", "config.yaml"],
             "justMyCode": true,

Makefile

@@ -24,14 +24,14 @@ clangcompile:
 
 # Auto generation of CPP binding stub files
 stubgen:
-	pybind11-stubgen -o python --numpy-array-use-type-var rcsss
+	pybind11-stubgen -o python --numpy-array-use-type-var rcs
 	find ./python -name '*.pyi' -print | xargs sed -i '1s/^/# ATTENTION: auto generated from C++ code, use `make stubgen` to update!\n/'
-	find ./python -not -path "./python/rcsss/_core/*" -name '*.pyi' -delete
-	find ./python/rcsss/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[typing\.Literal\[\([0-9]\+\)\], typing\.Literal\[1\]\]/typing\.Literal[\1]/g'
-	find ./python/rcsss/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[\([M|N]\), typing\.Literal\[1\]\]/\1/g'
-	ruff check --fix python/rcsss/_core
-	isort python/rcsss/_core
-	black python/rcsss/_core
+	find ./python -not -path "./python/rcs/_core/*" -name '*.pyi' -delete
+	find ./python/rcs/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[typing\.Literal\[\([0-9]\+\)\], typing\.Literal\[1\]\]/typing\.Literal[\1]/g'
+	find ./python/rcs/_core -name '*.pyi' -print | xargs sed -i 's/tuple\[\([M|N]\), typing\.Literal\[1\]\]/\1/g'
+	ruff check --fix python/rcs/_core
+	isort python/rcs/_core
+	black python/rcs/_core
 
 # Python
 pycheckformat:

README.md

@@ -25,19 +25,19 @@ pip install -ve .
 ```
 
 ## Usage
-The python package is called `rcsss` (sss because of the sound of a snake).
+The python package is called `rcs`.
 Import the library in python:
 ```python
-import rcsss
+import rcs
 ```
 Checkout the python examples that we provide in [python/examples](python/examples):
 - [fr3.py](python/examples/fr3.py) shows direct robot control with RCS's python bindings
 - [env_joint_control.py](python/examples/env_joint_control.py) and [env_cartesian_control.py](python/examples/env_cartesian_control.py) demonstrates RCS's high level [gymnasium](https://gymnasium.farama.org/) interface both for joint- and end effector space control
 All of these examples work both in the MuJoCo simulation as well as on your hardware FR3.
 Just switch between the following settings in the example script
 ```python
-ROBOT_INSTANCE = RobotInstance.SIMULATION
-# ROBOT_INSTANCE = RobotInstance.HARDWARE
+ROBOT_INSTANCE = RobotPlatform.SIMULATION
+# ROBOT_INSTANCE = RobotPlatform.HARDWARE
 ```
 and add your robot credentials to a `.env` file like this:
 ```env
@@ -49,7 +49,7 @@ DESK_PASSWORD=...
 The package includes a command line interface which define useful commands to handle the FR3 robot without the need to use the Desk Website.
 To list all available subcommands use:
 ```shell
-python -m rcsss --help
+python -m rcs --help
 ```
 
 ## Development
@@ -71,7 +71,7 @@ make pytest
 ```
 
 ### Stub Files for Python Bindings
-We use autogenerated python stub files (`.pyi`) in the [`_core`](python/rcsss/_core/) folder to show our linters the expected types of the C++ Python bindings.
+We use autogenerated python stub files (`.pyi`) in the [`_core`](python/rcs/_core/) folder to show our linters the expected types of the C++ Python bindings.
 If the python bindings in the C++ code have changed you might need to regenerate them by using:
 ```shell
 make stubgen

cmake/compile_scenes.cmake

@@ -33,12 +33,12 @@ foreach(scene_dir ${scene_dirs})
     list(APPEND mjb_files ${scene_mjb})
 
     # Install scene files
-    install(FILES ${scene_mjb} DESTINATION rcsss/scenes/${scene_name} COMPONENT python_package)
+    install(FILES ${scene_mjb} DESTINATION rcs/scenes/${scene_name} COMPONENT python_package)
 
     # Install URDF files
     file(GLOB_RECURSE urdfs ${scene_dir}/*.urdf)
     foreach(urdf ${urdfs})
-        install(FILES ${urdf} DESTINATION rcsss/scenes/${scene_name} COMPONENT python_package)
+        install(FILES ${urdf} DESTINATION rcs/scenes/${scene_name} COMPONENT python_package)
     endforeach()
 endforeach()
 

pyproject.toml

@@ -3,7 +3,7 @@ requires = []
 build-backend = "scikit_build_core.build"
 
 [project]
-name = "rcsss"
+name = "rcs"
 version = "0.4.0"
 description="Python Interface for libfranka to control the Franka Research 3 Robot"
 dependencies = ["websockets>=11.0",
@@ -60,7 +60,7 @@ build.verbose = true
 build.targets = ["_core", "utn_scenes"]
 logging.level = "INFO"
 build-dir = "build"
-wheel.packages = ["python/rcsss"]
+wheel.packages = ["python/rcs"]
 install.components = ["python_package"]
 
 [tool.ruff]
@@ -147,5 +147,5 @@ update_changelog_on_bump = true
 major_version_zero = true
 version_files = [
     "CMakeLists.txt:VERSION",
-    "python/rcsss/_core/__init__.pyi:__version__",
+    "python/rcs/_core/__init__.pyi:__version__",
 ]

python/examples/env_cartesian_control.py

@@ -1,10 +1,10 @@
 import logging
 
-from rcsss.control.fr3_desk import FCI, Desk, DummyResourceManager
-from rcsss.control.utils import load_creds_fr3_desk
-from rcsss.envs.base import ControlMode, RelativeTo, RobotInstance
-from rcsss.envs.factories import fr3_hw_env, fr3_sim_env
-from rcsss.envs.utils import (
+from rcs._core.common import RobotPlatform
+from rcs.control.fr3_desk import FCI, ContextManager, Desk, load_creds_fr3_desk
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs.envs.creators import RCSFR3EnvCreator, RCSSimEnvCreator
+from rcs.envs.utils import (
     default_fr3_hw_gripper_cfg,
     default_fr3_hw_robot_cfg,
     default_fr3_sim_gripper_cfg,
@@ -16,7 +16,7 @@
 logger.setLevel(logging.INFO)
 
 ROBOT_IP = "192.168.101.1"
-ROBOT_INSTANCE = RobotInstance.SIMULATION
+ROBOT_INSTANCE = RobotPlatform.SIMULATION
 
 
 """
@@ -26,44 +26,44 @@
 
 When you use a real FR3 you first need to unlock its joints using the following cli script:
 
-python -m rcsss fr3 unlock <ip>
+python -m rcs fr3 unlock <ip>
 
 or put it into guiding mode using:
 
-python -m rcsss fr3 guiding-mode <ip>
+python -m rcs fr3 guiding-mode <ip>
 
 When you are done you lock it again using:
 
-python -m rcsss fr3 lock <ip>
+python -m rcs fr3 lock <ip>
 
 or even shut it down using:
 
-python -m rcsss fr3 shutdown <ip>
+python -m rcs fr3 shutdown <ip>
 """
 
 
 def main():
-    resource_manger: FCI | DummyResourceManager
-    if ROBOT_INSTANCE == RobotInstance.HARDWARE:
+    context_manger: ContextManager
+    if ROBOT_INSTANCE == RobotPlatform.HARDWARE:
         user, pw = load_creds_fr3_desk()
-        resource_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)
+        context_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)
     else:
-        resource_manger = DummyResourceManager()
+        context_manger = ContextManager()
 
-    with resource_manger:
-        if ROBOT_INSTANCE == RobotInstance.HARDWARE:
-            env_rel = fr3_hw_env(
+    with context_manger:
+        if ROBOT_INSTANCE == RobotPlatform.HARDWARE:
+            env_rel = RCSFR3EnvCreator()(
                 ip=ROBOT_IP,
-                control_mode=ControlMode.CARTESIAN_TQuart,
+                control_mode=ControlMode.CARTESIAN_TQuat,
                 robot_cfg=default_fr3_hw_robot_cfg(),
                 collision_guard="lab",
                 gripper_cfg=default_fr3_hw_gripper_cfg(),
                 max_relative_movement=0.5,
                 relative_to=RelativeTo.LAST_STEP,
             )
         else:
-            env_rel = fr3_sim_env(
-                control_mode=ControlMode.CARTESIAN_TQuart,
+            env_rel = RCSSimEnvCreator()(
+                control_mode=ControlMode.CARTESIAN_TQuat,
                 robot_cfg=default_fr3_sim_robot_cfg(),
                 collision_guard=False,
                 gripper_cfg=default_fr3_sim_gripper_cfg(),
@@ -79,14 +79,14 @@ def main():
         for _ in range(10):
             for _ in range(10):
                 # move 1cm in x direction (forward) and close gripper
-                act = {"tquart": [0.01, 0, 0, 0, 0, 0, 1], "gripper": 0}
+                act = {"tquat": [0.01, 0, 0, 0, 0, 0, 1], "gripper": 0}
                 obs, reward, terminated, truncated, info = env_rel.step(act)
                 if truncated or terminated:
                     logger.info("Truncated or terminated!")
                     return
             for _ in range(10):
                 # move 1cm in negative x direction (backward) and open gripper
-                act = {"tquart": [-0.01, 0, 0, 0, 0, 0, 1], "gripper": 1}
+                act = {"tquat": [-0.01, 0, 0, 0, 0, 0, 1], "gripper": 1}
                 obs, reward, terminated, truncated, info = env_rel.step(act)
                 if truncated or terminated:
                     logger.info("Truncated or terminated!")

python/examples/env_joint_control.py

@@ -1,11 +1,11 @@
 import logging
 
 import numpy as np
-from rcsss.control.fr3_desk import FCI, Desk, DummyResourceManager
-from rcsss.control.utils import load_creds_fr3_desk
-from rcsss.envs.base import ControlMode, RelativeTo, RobotInstance
-from rcsss.envs.factories import fr3_hw_env, fr3_sim_env
-from rcsss.envs.utils import (
+from rcs._core.common import RobotPlatform
+from rcs.control.fr3_desk import FCI, ContextManager, Desk, load_creds_fr3_desk
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs.envs.creators import RCSFR3EnvCreator, RCSSimEnvCreator
+from rcs.envs.utils import (
     default_fr3_hw_gripper_cfg,
     default_fr3_hw_robot_cfg,
     default_fr3_sim_gripper_cfg,
@@ -17,7 +17,7 @@
 logger.setLevel(logging.INFO)
 
 ROBOT_IP = "192.168.101.1"
-ROBOT_INSTANCE = RobotInstance.SIMULATION
+ROBOT_INSTANCE = RobotPlatform.SIMULATION
 
 
 """
@@ -27,33 +27,33 @@
 
 When you use a real FR3 you first need to unlock its joints using the following cli script:
 
-python -m rcsss fr3 unlock <ip>
+python -m rcs fr3 unlock <ip>
 
 or put it into guiding mode using:
 
-python -m rcsss fr3 guiding-mode <ip>
+python -m rcs fr3 guiding-mode <ip>
 
 When you are done you lock it again using:
 
-python -m rcsss fr3 lock <ip>
+python -m rcs fr3 lock <ip>
 
 or even shut it down using:
 
-python -m rcsss fr3 shutdown <ip>
+python -m rcs fr3 shutdown <ip>
 """
 
 
 def main():
-    resource_manger: FCI | DummyResourceManager
-    if ROBOT_INSTANCE == RobotInstance.HARDWARE:
+    context_manger: FCI | ContextManager
+    if ROBOT_INSTANCE == RobotPlatform.HARDWARE:
         user, pw = load_creds_fr3_desk()
-        resource_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)
+        context_manger = FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False)
     else:
-        resource_manger = DummyResourceManager()
-    with resource_manger:
+        context_manger = ContextManager()
+    with context_manger:
 
-        if ROBOT_INSTANCE == RobotInstance.HARDWARE:
-            env_rel = fr3_hw_env(
+        if ROBOT_INSTANCE == RobotPlatform.HARDWARE:
+            env_rel = RCSFR3EnvCreator()(
                 ip=ROBOT_IP,
                 control_mode=ControlMode.JOINTS,
                 robot_cfg=default_fr3_hw_robot_cfg(),
@@ -63,7 +63,7 @@ def main():
                 relative_to=RelativeTo.LAST_STEP,
             )
         else:
-            env_rel = fr3_sim_env(
+            env_rel = RCSSimEnvCreator()(
                 control_mode=ControlMode.JOINTS,
                 collision_guard=False,
                 robot_cfg=default_fr3_sim_robot_cfg(),