From 088fe093fc78bae1e464510bc883a47b953f559a Mon Sep 17 00:00:00 2001 From: Seongjin Bien Date: Tue, 24 Jun 2025 13:21:15 +0200 Subject: [PATCH 1/3] fix: Change cmake min to 3.25 for policies CMP0140, 0135 compatibility --- CMakeLists.txt | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) 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 From 2a8f7decb1331571b7bfc7e6f2fcc78ac5f18090 Mon Sep 17 00:00:00 2001 From: Seongjin Bien Date: Tue, 24 Jun 2025 13:26:00 +0200 Subject: [PATCH 2/3] fix: replace dep. gym env with own creator and remove delta control --- python/examples/grasp_demo.py | 17 +++++++++++------ 1 file changed, 11 insertions(+), 6 deletions(-) diff --git a/python/examples/grasp_demo.py b/python/examples/grasp_demo.py index 03b2bb14..d006190d 100644 --- a/python/examples/grasp_demo.py +++ b/python/examples/grasp_demo.py @@ -4,6 +4,7 @@ import gymnasium as gym import mujoco import numpy as np +from rcs.envs.creators import FR3SimplePickUpSimEnvCreator from rcs._core.common import Pose from rcs.envs.base import GripperWrapper, RobotEnv @@ -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 From 4cbe3ff3d10c35bda5bed36c6f82a61235046c49 Mon Sep 17 00:00:00 2001 From: Seongjin Bien Date: Tue, 24 Jun 2025 15:17:39 +0200 Subject: [PATCH 3/3] fix: modify import order --- python/examples/grasp_demo.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/examples/grasp_demo.py b/python/examples/grasp_demo.py index d006190d..e2b9a684 100644 --- a/python/examples/grasp_demo.py +++ b/python/examples/grasp_demo.py @@ -4,8 +4,8 @@ import gymnasium as gym import mujoco import numpy as np -from rcs.envs.creators import FR3SimplePickUpSimEnvCreator from rcs._core.common import Pose +from rcs.envs.creators import FR3SimplePickUpSimEnvCreator from rcs.envs.base import GripperWrapper, RobotEnv logger = logging.getLogger(__name__)