diff --git a/CMakeLists.txt b/CMakeLists.txt
index e99caeb8..025ed0e5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.19)
+cmake_minimum_required(VERSION 3.25)
 
 project(
     rcs
diff --git a/python/examples/grasp_demo.py b/python/examples/grasp_demo.py
index 03b2bb14..e2b9a684 100644
--- a/python/examples/grasp_demo.py
+++ b/python/examples/grasp_demo.py
@@ -5,6 +5,7 @@
 import mujoco
 import numpy as np
 from rcs._core.common import Pose
+from rcs.envs.creators import FR3SimplePickUpSimEnvCreator
 from rcs.envs.base import GripperWrapper, RobotEnv
 
 logger = logging.getLogger(__name__)
@@ -50,10 +51,10 @@ def plan_linear_motion(self, geom_name: str, delta_up: float, num_waypoints: int
         return self.generate_waypoints(end_eff_pose, goal_pose, num_waypoints=num_waypoints)
 
     def execute_motion(self, waypoints: list[Pose], gripper: float = GripperWrapper.BINARY_GRIPPER_OPEN) -> dict:
-        for i in range(1, len(waypoints)):
+        for i in range(len(waypoints)):
             # calculate delta action
-            delta_action = waypoints[i] * waypoints[i - 1].inverse()
-            obs = self.step(self._action(delta_action, gripper))
+            # delta_action = waypoints[i] * waypoints[i - 1].inverse()
+            obs = self.step(self._action(waypoints[i], gripper))
         return obs
 
     def approach(self, geom_name: str):
@@ -83,10 +84,14 @@ def pickup(self, geom_name: str):
 
 def main():
     # compatilbe with rcs/SimplePickUpSimDigitHand-v0 and rcs/SimplePickUpSim-v0
-    env = gym.make(
-        "rcs/SimplePickUpSimDigitHand-v0",
+    # env = gym.make(
+    #     "rcs/SimplePickUpSimDigitHand-v0",
+    #     render_mode="human",
+    #     delta_actions=True,
+    # )
+    env = FR3SimplePickUpSimEnvCreator()(
         render_mode="human",
-        delta_actions=True,
+        delta_actions=False,
     )
     env.reset()
     print(env.unwrapped.robot.get_cartesian_position().translation())  # type: ignore