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fix: sim gripper collision in state #118

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Merged
juelg merged 2 commits into from
Aug 25, 2024
Merged

fix: sim gripper collision in state #118

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cf5ef2f
fix: sim gripper collision in state
juelg Aug 25, 2024
0b06cb3
style(cpp): formatting
juelg Aug 25, 2024
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6 changes: 6 additions & 0 deletions python/rcsss/_core/sim.pyi
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Original file line number Diff line number Diff line change
Expand Up @@ -74,8 +74,14 @@ class FHConfig(rcsss._core.common.GConfig):
class FHState(rcsss._core.common.GState):
def __init__(self) -> None: ...
@property
def collision(self) -> bool: ...
@property
def is_moving(self) -> bool: ...
@property
def last_commanded_width(self) -> float: ...
@property
def last_width(self) -> float: ...
@property
def max_unnormalized_width(self) -> float: ...

class FR3(rcsss._core.common.Robot):
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8 changes: 8 additions & 0 deletions python/rcsss/envs/base.py
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Expand Up @@ -17,6 +17,8 @@
get_space_keys,
)

from python.rcsss import sim


class TRPYDictType(RCSpaceType):
"""Pose format is in transpose[3],r,p,y"""
Expand Down Expand Up @@ -413,6 +415,12 @@ def reset(self, **kwargs) -> tuple[dict[str, Any], dict[str, Any]]:
def observation(self, observation: dict[str, Any], info: dict[str, Any]) -> tuple[dict[str, Any], dict[str, Any]]:
observation = copy.deepcopy(observation)
observation[self.gripper_key] = self._gripper.get_normalized_width()

# TODO: a cleaner solution would be to put this code into env/sim.py
# similar to sim fr3 has also a sim specific wrapper
if isinstance(self._gripper, sim.FrankaHand):
state = self._gripper.get_state()
info["collision"] = state.collision
if self.binary:
observation[self.gripper_key] = round(observation[self.gripper_key])
return observation, info
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5 changes: 4 additions & 1 deletion src/pybind/rcsss.cpp
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Expand Up @@ -424,7 +424,10 @@ PYBIND11_MODULE(_core, m) {
.def_readonly("last_commanded_width",
&rcs::sim::FHState::last_commanded_width)
.def_readonly("max_unnormalized_width",
&rcs::sim::FHState::max_unnormalized_width);
&rcs::sim::FHState::max_unnormalized_width)
.def_readonly("is_moving", &rcs::sim::FHState::is_moving)
.def_readonly("last_width", &rcs::sim::FHState::last_width)
.def_readonly("collision", &rcs::sim::FHState::collision);

py::class_<rcs::sim::Sim, std::shared_ptr<rcs::sim::Sim>>(sim, "Sim")
.def(py::init([](long m, long d) {
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