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Merged
juelg merged 7 commits into from
Apr 11, 2026
Merged

refactor(envs)!: base environment is now platform based #274

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38b2c88
refactor: xml id to true prefix
juelg Apr 9, 2026
5fed1cf
assets: add base dual arm scene
juelg Apr 10, 2026
833cf06
chore(rendering): improve egl loading robustness
juelg Apr 10, 2026
6afbd26
refactor(wrappers): base environment is now platform based
juelg Apr 10, 2026
4352f1c
fix(sim): CoverWrapper wrapper for correct resetting
juelg Apr 11, 2026
9af83f6
style: python formatting
juelg Apr 11, 2026
7dc46b2
lint: fix python linting errors
juelg Apr 11, 2026
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17 changes: 10 additions & 7 deletions README.md
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Expand Up @@ -48,10 +48,12 @@ from rcs.camera.sim import SimCameraSet
from rcs.envs.base import (
CameraSetWrapper,
ControlMode,
CoverWrapper,
GripperWrapper,
RelativeActionSpace,
RelativeTo,
RobotEnv,
RobotWrapper,
SimEnv,
)
from rcs.envs.sim import GripperWrapperSim, RobotSimWrapper
from rcs.envs.utils import (
Expand Down Expand Up @@ -82,36 +84,37 @@ if __name__ == "__main__":

# base env
robot = rcs.sim.SimRobot(simulation, ik, robot_cfg)
env: gym.Env = RobotEnv(robot, ControlMode.CARTESIAN_TQuat)
env: gym.Env = SimEnv(simulation)
env = RobotWrapper(env, robot, ControlMode.CARTESIAN_TQuat)

# gripper
gripper = sim.SimGripper(simulation, gripper_cfg)
env = GripperWrapper(env, gripper, binary=True)

env = RobotSimWrapper(env, simulation)
env = GripperWrapperSim(env, gripper)
env = RobotSimWrapper(env)
env = GripperWrapperSim(env)

# camera
camera_set = SimCameraSet(simulation, cameras, physical_units=True, render_on_demand=True)
env = CameraSetWrapper(env, camera_set, include_depth=True)
env = CameraSetWrapper(env, camera_set, include_depth=True) # type: ignore

# relative actions bounded by 10cm translation and 10 degree rotation
env = RelativeActionSpace(env, max_mov=(0.1, np.deg2rad(10)), relative_to=RelativeTo.LAST_STEP)
env = CoverWrapper(env)

env.get_wrapper_attr("sim").open_gui()
# wait for gui to open
sleep(1)
env.reset()

# access low level robot api to get current cartesian position
print(env.unwrapped.robot.get_cartesian_position())
print(env.get_wrapper_attr("robot").get_cartesian_position())

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.step(act)
print(obs)

```

> **Note:** This and other examples can be found in the [`examples/`]() folder.
Expand Down
154 changes: 154 additions & 0 deletions assets/fr3/mjcf/fr3_1.xml
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<mujoco>
<worldbody>
<frame quat="0 0 0 1" pos="1 0 0">
<body name="base_1" childclass="fr3" gravcomp="1">
<body name="fr3_link0_1" gravcomp="1">
<geom mesh="fr3_link0_0" material="black" class="visual"/>
<geom mesh="fr3_link0_1" material="white" class="visual"/>
<geom mesh="fr3_link0_2" material="white" class="visual"/>
<geom mesh="fr3_link0_3" material="white" class="visual"/>
<geom mesh="fr3_link0_4" material="white" class="visual"/>
<geom mesh="fr3_link0_5" material="red" class="visual"/>
<geom mesh="fr3_link0_6" material="black" class="visual"/>
<geom name="fr3_link0_collision_1" mesh="fr3_link0_coll" class="collision"/>
<body name="fr3_link1_1" pos="0 0 0.333" gravcomp="1">
<inertial pos="4.128e-07 -0.0181251 -0.0386036" quat="0.999901 0.0021545 0.00429041 0.0132325" mass="2.92747"
diaginertia="0.0186043 0.0181194 0.00538716"/>
<joint name="fr3_joint1_1" axis="0 0 1" range="-2.7437 2.7437" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom name="fr3_link1_collision_1" class="collision" mesh="fr3_link1_coll"/>
<geom material="white" mesh="fr3_link1" class="visual"/>
<body name="fr3_link2_1" quat="1 -1 0 0" gravcomp="1">
<inertial pos="0.00318289 -0.0743222 0.00881461" quat="0.356855 0.680818 -0.434812 0.469126" mass="2.93554"
diaginertia="0.0299291 0.0299291 0.0299291"/>
<joint name="fr3_joint2_1" axis="0 0 1" range="-1.7837 1.7837" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom material="white" mesh="fr3_link2" class="visual"/>
<geom name="fr3_link2_collision_1" class="collision" mesh="fr3_link2_coll"/>
<body name="fr3_link3_1" pos="0 -0.316 0" quat="1 1 0 0" gravcomp="1">
<inertial pos="0.0407016 -0.00482006 -0.0289731" quat="0.950032 -0.148357 0.229935 0.150201" mass="2.2449"
diaginertia="0.0140109 0.0140109 0.0140109"/>
<joint name="fr3_joint3_1" axis="0 0 1" range="-2.9007 2.9007" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom mesh="fr3_link3_0" material="white" class="visual"/>
<geom mesh="fr3_link3_1" material="black" class="visual"/>
<geom name="fr3_link3_collision_1" class="collision" mesh="fr3_link3_coll"/>
<body name="fr3_link4_1" pos="0.0825 0 0" quat="1 1 0 0" gravcomp="1">
<inertial pos="-0.0459101 0.0630493 -0.00851879" quat="0.23761 0.892458 -0.00078702 0.383484"
mass="2.6156" diaginertia="0.0206104 0.0206104 0.0206104"/>
<joint name="fr3_joint4_1" axis="0 0 1" range="-3.0421 -0.1518" actuatorfrcrange="-87 87" actuatorgravcomp="true"/>
<geom mesh="fr3_link4_0" material="white" class="visual"/>
<geom mesh="fr3_link4_1" material="black" class="visual"/>
<geom name="fr3_link4_collision_1" class="collision" mesh="fr3_link4_coll"/>
<body name="fr3_link5_1" pos="-0.0825 0.384 0" quat="1 -1 0 0" gravcomp="1">
<inertial pos="-0.00160396 0.0292536 -0.0972966" quat="0.922285 0.098826 0.0982562 -0.360514"
mass="2.32712" diaginertia="0.0182879 0.0182879 0.0182879"/>
<joint name="fr3_joint5_1" axis="0 0 1" range="-2.8065 2.8065" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
<geom mesh="fr3_link5_0" material="white" class="visual"/>
<geom mesh="fr3_link5_1" material="white" class="visual"/>
<geom mesh="fr3_link5_2" material="black" class="visual"/>
<geom name="fr3_link5_collision_1" class="collision" mesh="fr3_link5_coll"/>
<body name="fr3_link6_1" quat="1 1 0 0" gravcomp="1">
<inertial pos="0.0597131 -0.0410295 -0.0101693" quat="0.593933 0.525442 0.520644 0.316361"
mass="1.81704" diaginertia="0.00483538 0.00483538 0.00483538"/>
<joint name="fr3_joint6_1" axis="0 0 1" range="0.5445 4.5169" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
<geom mesh="fr3_link6_0" material="button_green" class="visual"/>
<geom mesh="fr3_link6_1" material="white" class="visual"/>
<geom mesh="fr3_link6_2" material="white" class="visual"/>
<geom mesh="fr3_link6_3" material="gray" class="visual"/>
<geom mesh="fr3_link6_4" material="button_red" class="visual"/>
<geom mesh="fr3_link6_5" material="white" class="visual"/>
<geom mesh="fr3_link6_6" material="black" class="visual"/>
<geom mesh="fr3_link6_7" material="button_blue" class="visual"/>
<geom name="fr3_link6_collision_1" class="collision" mesh="fr3_link6_coll"/>
<body name="fr3_link7_1" pos="0.088 0 0" quat="1 1 0 0" gravcomp="1">
<inertial pos="0.00452258 0.00862619 -0.0161633" quat="0.120255 0.394761 -0.799132 0.437139"
mass="0.627143" diaginertia="3.076e-07 3.076e-07 3.076e-07"/>
<joint name="fr3_joint7_1" axis="0 0 1" range="-3.0159 3.0159" actuatorfrcrange="-12 12" actuatorgravcomp="true"/>
<geom mesh="fr3_link7_0" material="black" class="visual"/>
<geom mesh="fr3_link7_1" material="white" class="visual"/>
<geom mesh="fr3_link7_2" material="white" class="visual"/>
<geom mesh="fr3_link7_3" material="black" class="visual"/>
<geom name="fr3_link7_collision_1" class="collision" mesh="fr3_link7_coll"/>
<site name="attachment_site_1" pos="0 0 0.107"/>
<body name="hand_1" pos="0 0 0.107" quat="0.9238795 0 0 -0.3826834" gravcomp="1">
<geom mesh="Panda_RealSenseD435_Camera_Mount" class="visual" pos="0.065 0.03 0" euler="1.57 3.142 0"/>
<geom mesh="Panda_RealSenseD435_Camera_Mount" class="collision"/>
<body name="d435i_1" childclass="d435i" pos="0.051 0 0.065" euler="0 0 -1.5707" gravcomp="1">
<geom mesh="d435i_0" material="IR_Lens" class="visual_d435i"/>
<geom mesh="d435i_1" material="IR_Emitter_Lens" class="visual_d435i"/>
<geom mesh="d435i_2" material="IR_Rim" class="visual_d435i"/>
<geom mesh="d435i_3" material="IR_Lens" class="visual_d435i"/>
<geom mesh="d435i_4" material="Cameras_Gray" class="visual_d435i"/>
<geom mesh="d435i_5" material="Black_Acrylic" class="visual_d435i"/>
<geom mesh="d435i_6" material="Black_Acrylic" class="visual_d435i"/>
<geom mesh="d435i_7" material="RGB_Pupil" class="visual_d435i"/>
<geom mesh="d435i_8" mass="0.072" material="Metal_Casing" class="visual_d435i"/>
<geom class="collision_d435i" type="capsule" mesh="d435i_8" name="d435i_collision_1"/>
<camera name="wrist_1" mode="fixed" pos="0.1 0 0" quat="0 1 0 0" resolution="1920 1080"/>
</body>
<inertial mass="0.73" pos="-0.01 0 0.03" diaginertia="0.001 0.0025 0.0017"/>
<geom mesh="franka_hand_0" material="white" class="visual"/>
<geom mesh="franka_hand_1" material="black" class="visual"/>
<geom mesh="franka_hand_2" material="black" class="visual"/>
<geom mesh="franka_hand_3" material="white" class="visual"/>
<geom mesh="franka_hand_4" material="white" class="visual"/>
<geom mesh="franka_hand_coll" class="collision" name="hand_c_1"/>
<site name="tcp_1" pos="0 0 0.1034" rgba="0 0 0 0.25"/>
<body name="left_finger_1" pos="0 0 0.0584" gravcomp="1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint1_1" class="finger"/>
<geom mesh="finger_0" material="white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision" name="finger_0_left_1"/>
<geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_left_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_2_left_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_3_left_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_4_left_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_5" name="fingertip_pad_collision_5_left_1" friction="2 0.05 0.0001"/>
</body>
<body name="right_finger_1" pos="0 0 0.0584" quat="0 0 0 1" gravcomp="1">
<inertial mass="0.015" pos="0 0 0" diaginertia="2.375e-6 2.375e-6 7.5e-7"/>
<joint name="finger_joint2_1" class="finger"/>
<geom mesh="finger_0" material="white" class="visual"/>
<geom mesh="finger_1" material="black" class="visual"/>
<geom mesh="finger_0" class="collision" name="finger_0_right_1"/>
<geom class="fingertip_pad_collision_1" name="fingertip_pad_collision_1_right_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_2" name="fingertip_pad_collision_2_right_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_3" name="fingertip_pad_collision_3_right_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_4" name="fingertip_pad_collision_4_right_1" friction="2 0.05 0.0001"/>
<geom class="fingertip_pad_collision_5" name="fingertip_pad_collision_5_right_1" friction="2 0.05 0.0001"/>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</body>
</frame>
</worldbody>

<tendon>
<fixed name="split_1">
<joint joint="finger_joint1_1" coef="0.5"/>
<joint joint="finger_joint2_1" coef="0.5"/>
</fixed>
</tendon>

<equality>
<joint joint1="finger_joint1_1" joint2="finger_joint2_1" solimp="0.95 0.99 0.001" solref="0.005 1"/>
</equality>
<actuator>
<position class="fr3" name="fr3_joint1_1" joint="fr3_joint1_1" kp="4500" kv="450"/>
<position class="fr3" name="fr3_joint2_1" joint="fr3_joint2_1" kp="4500" kv="450"/>
<position class="fr3" name="fr3_joint3_1" joint="fr3_joint3_1" kp="3500" kv="350"/>
<position class="fr3" name="fr3_joint4_1" joint="fr3_joint4_1" kp="3500" kv="350"/>
<position class="fr3" name="fr3_joint5_1" joint="fr3_joint5_1" kp="2000" kv="200"/>
<position class="fr3" name="fr3_joint6_1" joint="fr3_joint6_1" kp="2000" kv="200"/>
<position class="fr3" name="fr3_joint7_1" joint="fr3_joint7_1" kp="2000" kv="200"/>
<!-- Remap original ctrlrange (0, 0.04) to (0, 255): 0.04 * 100 / 255 = 0.01568627451 -->
<general class="fr3" name="actuator8_1" tendon="split_1" forcerange="-100 100" ctrlrange="0 255"
gainprm="0.01568627451 0 0" biasprm="0 -100 -10"/>
</actuator>
</mujoco>
1 change: 1 addition & 0 deletions assets/scenes/fr3_dual_arm/assets/Panda_RealSenseD435_Camera_Mount.obj
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