refactor: rename rcs sim classes in python

Author: juelg

python/examples/fr3.py

@@ -69,14 +69,14 @@ def main():
             urdf_path = get_urdf_path(URDF_PATH, allow_none_if_not_found=False)
             assert urdf_path is not None
             ik = rcsss.common.IK(urdf_path)
-            robot = rcsss.sim.FR3(simulation, "0", ik)
-            cfg = sim.FR3Config()
+            robot = rcsss.sim.SimRobot(simulation, "0", ik)
+            cfg = sim.SimRobotConfig()
             cfg.tcp_offset = rcsss.common.Pose(rcsss.common.FrankaHandTCPOffset())
             cfg.realtime = False
             robot.set_parameters(cfg)
 
-            gripper_cfg_sim = sim.FHConfig()
-            gripper = sim.FrankaHand(simulation, "0", gripper_cfg_sim)
+            gripper_cfg_sim = sim.SimGripperConfig()
+            gripper = sim.SimGripper(simulation, "0", gripper_cfg_sim)
 
             # add camera to have a rendering gui
             cameras = {

python/rcsss/envs/creators.py

@@ -140,9 +140,9 @@ class RCSSimEnv(EnvCreator):
     def __call__(  # type: ignore
         self,
         control_mode: ControlMode,
-        robot_cfg: rcsss.sim.FR3Config,
+        robot_cfg: rcsss.sim.SimRobotConfig,
         collision_guard: bool = False,
-        gripper_cfg: rcsss.sim.FHConfig | None = None,
+        gripper_cfg: rcsss.sim.SimGripperConfig | None = None,
         camera_set_cfg: SimCameraSetConfig | None = None,
         max_relative_movement: float | tuple[float, float] | None = None,
         relative_to: RelativeTo = RelativeTo.LAST_STEP,
@@ -155,9 +155,9 @@ def __call__(  # type: ignore
 
         Args:
             control_mode (ControlMode): Control mode for the robot.
-            robot_cfg (rcsss.sim.FR3Config): Configuration for the FR3 robot.
+            robot_cfg (rcsss.sim.SimRobotConfig): Configuration for the FR3 robot.
             collision_guard (bool): Whether to use collision guarding. If True, the same mjcf scene is used for collision guarding.
-            gripper_cfg (rcsss.sim.FHConfig | None): Configuration for the gripper. If None, no gripper is used.
+            gripper_cfg (rcsss.sim.SimGripperConfig | None): Configuration for the gripper. If None, no gripper is used.
             camera_set_cfg (SimCameraSetConfig | None): Configuration for the camera set. If None, no cameras are used.
             max_relative_movement (float | tuple[float, float] | None): Maximum allowed movement. If float, it restricts
                 translational movement in meters. If tuple, it restricts both translational (in meters) and rotational
@@ -180,7 +180,7 @@ def __call__(  # type: ignore
         simulation = sim.Sim(mjb_file)
 
         ik = rcsss.common.IK(urdf_path)
-        robot = rcsss.sim.FR3(simulation, "0", ik)
+        robot = rcsss.sim.SimRobot(simulation, "0", ik)
         robot.set_parameters(robot_cfg)
         env: gym.Env = FR3Env(robot, control_mode)
         env = FR3Sim(env, simulation, sim_wrapper)
@@ -190,7 +190,7 @@ def __call__(  # type: ignore
             env = CameraSetWrapper(env, camera_set, include_depth=True)
 
         if gripper_cfg is not None:
-            gripper = sim.FrankaHand(simulation, "0", gripper_cfg)
+            gripper = sim.SimGripper(simulation, "0", gripper_cfg)
             env = GripperWrapper(env, gripper, binary=True)
             env = GripperWrapperSim(env, gripper)
 

python/rcsss/envs/sim.py

@@ -21,7 +21,7 @@ class SimWrapper(gym.Wrapper):
     def __init__(self, env: gym.Env, simulation: sim.Sim):
         super().__init__(env)
         self.unwrapped: FR3Env
-        assert isinstance(self.unwrapped.robot, sim.FR3), "Robot must be a sim.FR3 instance."
+        assert isinstance(self.unwrapped.robot, sim.SimRobot), "Robot must be a sim.SimRobot instance."
         self.sim = simulation
 
 
@@ -32,8 +32,8 @@ def __init__(self, env, simulation: sim.Sim, sim_wrapper: Type[SimWrapper] | Non
             env = sim_wrapper(env, simulation)
         super().__init__(env)
         self.unwrapped: FR3Env
-        assert isinstance(self.unwrapped.robot, sim.FR3), "Robot must be a sim.FR3 instance."
-        self.sim_robot = cast(sim.FR3, self.unwrapped.robot)
+        assert isinstance(self.unwrapped.robot, sim.SimRobot), "Robot must be a sim.SimRobot instance."
+        self.sim_robot = cast(sim.SimRobot, self.unwrapped.robot)
         self.sim = simulation
 
     def step(self, action: dict[str, Any]) -> tuple[dict[str, Any], float, bool, bool, dict]:
@@ -59,7 +59,7 @@ def reset(
 
 
 class GripperWrapperSim(ActObsInfoWrapper):
-    def __init__(self, env, gripper: sim.FrankaHand):
+    def __init__(self, env, gripper: sim.SimGripper):
         super().__init__(env)
         self._gripper = gripper
 
@@ -161,8 +161,8 @@ def env_from_xml_paths(
         assert isinstance(env.unwrapped, FR3Env)
         simulation = sim.Sim(mjmld)
         ik = rcsss.common.IK(urdf, max_duration_ms=300)
-        robot = rcsss.sim.FR3(simulation, id, ik)
-        cfg = sim.FR3Config()
+        robot = rcsss.sim.SimRobot(simulation, id, ik)
+        cfg = sim.SimRobotConfig()
         cfg.realtime = False
         if tcp_offset is not None:
             cfg.tcp_offset = tcp_offset
@@ -180,8 +180,8 @@ def env_from_xml_paths(
         c_env: gym.Env = FR3Env(robot, control_mode)
         c_env = FR3Sim(c_env, simulation)
         if gripper:
-            gripper_cfg = sim.FHConfig()
-            fh = sim.FrankaHand(simulation, id, gripper_cfg)
+            gripper_cfg = sim.SimGripperConfig()
+            fh = sim.SimGripper(simulation, id, gripper_cfg)
             c_env = GripperWrapper(c_env, fh)
             c_env = GripperWrapperSim(c_env, fh)
         return cls(
@@ -224,7 +224,7 @@ class PickCubeSuccessWrapper(gym.Wrapper):
     def __init__(self, env):
         super().__init__(env)
         self.unwrapped: FR3Env
-        assert isinstance(self.unwrapped.robot, sim.FR3), "Robot must be a sim.FR3 instance."
+        assert isinstance(self.unwrapped.robot, sim.SimRobot), "Robot must be a sim.SimRobot instance."
         self.sim = env.get_wrapper_attr("sim")
 
     def step(self, action: dict[str, Any]):
@@ -248,9 +248,11 @@ class CamRobot(gym.Wrapper):
     def __init__(self, env, cam_robot_joints: Vec7Type, scene: str = "lab_simple_pick_up_digit_hand"):
         super().__init__(env)
         self.unwrapped: FR3Env
-        assert isinstance(self.unwrapped.robot, sim.FR3), "Robot must be a sim.FR3 instance."
+        assert isinstance(self.unwrapped.robot, sim.SimRobot), "Robot must be a sim.SimRobot instance."
         self.sim = env.get_wrapper_attr("sim")
-        self.cam_robot = rcsss.sim.FR3(self.sim, "1", env.unwrapped.robot.get_ik(), register_convergence_callback=False)
+        self.cam_robot = rcsss.sim.SimRobot(
+            self.sim, "1", env.unwrapped.robot.get_ik(), register_convergence_callback=False
+        )
         self.cam_robot.set_parameters(default_fr3_sim_robot_cfg(scene))
         self.cam_robot_joints = cam_robot_joints
 

python/rcsss/envs/utils.py

@@ -16,8 +16,8 @@
 logger.setLevel(logging.INFO)
 
 
-def default_fr3_sim_robot_cfg(mjcf: str | Path = "fr3_empty_world") -> sim.FR3Config:
-    cfg = sim.FR3Config()
+def default_fr3_sim_robot_cfg(mjcf: str | Path = "fr3_empty_world") -> sim.SimRobotConfig:
+    cfg = sim.SimRobotConfig()
     cfg.tcp_offset = get_tcp_offset(mjcf)
     cfg.realtime = False
     return cfg
@@ -58,7 +58,7 @@ def default_realsense(name2id: dict[str, str] | None) -> RealSenseCameraSet | No
 
 
 def default_fr3_sim_gripper_cfg():
-    return sim.FHConfig()
+    return sim.SimGripperConfig()
 
 
 def default_mujoco_cameraset_cfg():

python/rcsss/sim.py

@@ -6,11 +6,18 @@
 from typing import Optional
 
 import mujoco as mj
-from rcsss._core.sim import FR3, FHConfig, FHState, FR3Config, FR3State, FrankaHand
 from rcsss._core.sim import Sim as _Sim
+from rcsss._core.sim import (
+    SimGripper,
+    SimGripperConfig,
+    SimGripperState,
+    SimRobot,
+    SimRobotConfig,
+    SimRobotState,
+)
 from rcsss._core.sim import open_gui_window as _open_gui_window
 
-__all__ = ["Sim", "FR3", "FR3Config", "FR3State", "FHConfig", "FHState", "FrankaHand"]
+__all__ = ["Sim", "SimRobot", "SimRobotConfig", "SimRobotState", "SimGripper", "SimGripperConfig", "SimGripperState"]
 
 logger = getLogger(__name__)