refactor: replaced hard coded fr3.urdf with robot.urdf

Author: juelg

assets/scenes/fr3_empty_world/fr3.urdf assets/scenes/fr3_empty_world/robot.urdfassets/scenes/fr3_empty_world/fr3.urdf renamed to assets/scenes/fr3_empty_world/robot.urdf

@@ -0,0 +1,64 @@
+import logging
+
+import numpy as np
+from rcs.envs.base import ControlMode, RelativeTo
+from rcs.envs.creators import SimEnvCreator
+
+import rcs
+from rcs import sim
+
+logger = logging.getLogger(__name__)
+logger.setLevel(logging.INFO)
+
+
+def main():
+
+    robot_cfg = sim.SimRobotConfig()
+    robot_cfg.actuators = ["shoulder_pan", "shoulder_lift", "elbow", "wrist_1", "wrist_2", "wrist_3"]
+    robot_cfg.joints = [
+        "shoulder_pan_joint",
+        "shoulder_lift_joint",
+        "elbow_joint",
+        "wrist_1_joint",
+        "wrist_2_joint",
+        "wrist_3_joint",
+    ]
+    robot_cfg.base = "base"
+    robot_cfg.robot_type = rcs.common.RobotType.UR5e
+    robot_cfg.attachment_site = "attachment_site"
+    robot_cfg.arm_collision_geoms = []
+    env_rel = SimEnvCreator()(
+        control_mode=ControlMode.CARTESIAN_TQuat,
+        collision_guard=False,
+        robot_cfg=robot_cfg,
+        gripper_cfg=None,
+        # cameras=default_mujoco_cameraset_cfg(),
+        max_relative_movement=0.5,
+        relative_to=RelativeTo.LAST_STEP,
+        mjcf=rcs.scenes["ur5e_empty_world"]["mjb"],
+        urdf_path=rcs.scenes["ur5e_empty_world"]["urdf"],
+    )
+    env_rel.get_wrapper_attr("sim").open_gui()
+    env_rel.reset()
+
+
+    for _ in range(10):
+        for _ in range(10):
+            # move 1cm in x direction (forward) and close gripper
+            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 = {"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!")
+                return
+
+
+
+if __name__ == "__main__":
+    main()

assets/scenes/fr3_simple_pick_up/fr3.urdf …ets/scenes/fr3_simple_pick_up/robot.urdfassets/scenes/fr3_simple_pick_up/fr3.urdf renamed to assets/scenes/fr3_simple_pick_up/robot.urdf assets/scenes/fr3_simple_pick_up/fr3.urdf renamed to assets/scenes/fr3_simple_pick_up/robot.urdf

@@ -35,7 +35,7 @@ def main():
         # cameras=default_mujoco_cameraset_cfg(),
         max_relative_movement=np.deg2rad(5),
         relative_to=RelativeTo.LAST_STEP,
-        mjcf=rcs.scenes["ur5e_empty_world"]["mjcf"],
+        mjcf=rcs.scenes["ur5e_empty_world"]["mjb"],
         urdf_path=rcs.scenes["ur5e_empty_world"]["urdf"],
     )
     env_rel.get_wrapper_attr("sim").open_gui()

examples/ur5e_env_cartesian_control.py

@@ -13,7 +13,7 @@
 scenes: dict[str, dict[str, pathlib.Path]] = {
     path.stem: {
         "mjb": path / "scene.mjb",
-        "urdf": path / "fr3.urdf",
+        "urdf": path / "robot.urdf",
     }
     for path in (pathlib.Path(site.getsitepackages()[0]) / "rcs" / "scenes").glob("*")
 }