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Scratch install fix #196

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tenfoldpaper wants to merge 3 commits into from
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Scratch install fix #196

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088fe09
fix: Change cmake min to 3.25 for policies CMP0140, 0135 compatibility
tenfoldpaper Jun 24, 2025
2a8f7de
fix: replace dep. gym env with own creator and remove delta control
tenfoldpaper Jun 24, 2025
4cbe3ff
fix: modify import order
tenfoldpaper Jun 24, 2025
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.19)
cmake_minimum_required(VERSION 3.25)

project(
rcs
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17 changes: 11 additions & 6 deletions python/examples/grasp_demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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__)
Expand Down Expand Up @@ -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):
Expand Down Expand Up @@ -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
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