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Feat: clearer naming convention for init-level dicts GRIPPER_OFFSETS #322

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Feat: clearer naming convention for init-level dicts GRIPPER_OFFSETS #322

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da6fb5c
fix: robot name, tcp offset, gripper offset fixes
tenfoldpaper Jul 20, 2026
4cf2fbd
feat: clearer naming for TCP and gripper mount offsets
tenfoldpaper Jul 20, 2026
af1805b
format: pyformat, pylint
tenfoldpaper Jul 20, 2026
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4 changes: 2 additions & 2 deletions examples/taxim/grasp_digit_demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,11 +23,11 @@ def _progress(iterable):
class PickUpDemo:
def __init__(self, env: gym.Env):
self.env = env
self._robot = cast(SimRobot, self.env.get_wrapper_attr("robot")["robot"])
self._robot = cast(SimRobot, self.env.get_wrapper_attr("robot")["right"])
self.home_pose = self._robot.get_cartesian_position()

def _action(self, pose: Pose, gripper: list[float]) -> dict[str, Any]:
return {"robot": {"xyzrpy": pose.xyzrpy(), "gripper": gripper}}
return {"right": {"xyzrpy": pose.xyzrpy(), "gripper": gripper}}

def get_object_pose(self, geom_name: str) -> Pose:
model = self.env.get_wrapper_attr("sim").model
Expand Down
6 changes: 3 additions & 3 deletions extensions/rcs_fr3/src/rcs_fr3/configs.py
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Expand Up @@ -119,7 +119,7 @@ def config(self) -> FR3MultiHardwareEnvCreatorConfig:
cfg = base.config()
cfg.robot_cfg.async_control = True
cfg.robot_cfg.ip = self.robot_ip
cfg.robot_cfg.tcp_offset = rcs.GRIPPER_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfg.tcp_offset = rcs.GRIPPER_TCP_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfg.q_home = rcs.HOME_POSITIONS["FR3_DROID"]

return FR3MultiHardwareEnvCreatorConfig(
Expand Down Expand Up @@ -209,8 +209,8 @@ def config(self) -> FR3MultiHardwareEnvCreatorConfig:

cfg = super().config()
cfg.camera_cfgs = None
cfg.robot_cfgs["left"].tcp_offset = rcs.GRIPPER_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfgs["right"].tcp_offset = rcs.GRIPPER_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfgs["left"].tcp_offset = rcs.GRIPPER_TCP_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfgs["right"].tcp_offset = rcs.GRIPPER_TCP_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfgs["left"].q_home = rcs.HOME_POSITIONS["FR3_DUO_LEFT"]
cfg.robot_cfgs["right"].q_home = rcs.HOME_POSITIONS["FR3_DUO_RIGHT"]
cfg.gripper_cfgs = {
Expand Down
2 changes: 1 addition & 1 deletion extensions/rcs_panda/src/rcs_panda/configs.py
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Expand Up @@ -60,7 +60,7 @@ def config(self) -> PandaMultiHardwareEnvCreatorConfig:
cfg = base.config()
cfg.robot_cfg.async_control = True
cfg.robot_cfg.ip = self.robot_ip
cfg.robot_cfg.tcp_offset = rcs.GRIPPER_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfg.tcp_offset = rcs.GRIPPER_TCP_OFFSETS[common.GripperType("Robotiq2F85")]
cfg.robot_cfg.q_home = rcs.ROBOTS[RobotType.Panda].q_home

return PandaMultiHardwareEnvCreatorConfig(
Expand Down
5 changes: 3 additions & 2 deletions extensions/rcs_taxim/src/rcs_taxim/creators.py
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Expand Up @@ -84,6 +84,7 @@ def __call__(

scene = EmptyWorldFR3()
cfg = scene.config()
cfg.robot_cfgs["right"].tcp_offset = rcs.GRIPPER_TCP_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
cfg.control_mode = control_mode
cfg.headless = render_mode != "human"
cfg.sim_cfg.realtime = render_mode == "human"
Expand All @@ -97,8 +98,8 @@ def __call__(
cfg.relative_to = RelativeTo.LAST_STEP if delta_actions else RelativeTo.NONE
if not delta_actions:
cfg.max_relative_movement = None
cfg.gripper_cfgs = {"robot": _taxim_gripper_cfg()}
cfg.gripper_offsets = None
cfg.gripper_cfgs = {"right": _taxim_gripper_cfg()}
cfg.gripper_offsets = {"right": rcs.GRIPPER_MOUNT_OFFSETS[rcs.common.GripperType("Robotiq2F85")]}
cfg.root_frame_objects = {
"": (
rcs.OBJECT_PATHS["green_cube"],
Expand Down
14 changes: 10 additions & 4 deletions python/rcs/__init__.py
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Expand Up @@ -190,11 +190,20 @@ class RobotMetaConfig:
common.GripperType("Robotiq2F85"): "assets/grippers/robotiq_2f85/robotiq_2f85.xml",
}

GRIPPER_OFFSETS: dict[common.GripperType, common.Pose] = {
GRIPPER_TCP_OFFSETS: dict[common.GripperType, common.Pose] = {
common.GripperType.FrankaHand: common.Pose(pose_matrix=common.FrankaHandTCPOffset()),
common.GripperType("Robotiq2F85"): common.Pose(translation=np.array([0, 0.0, 0.1493])),
}

GRIPPER_MOUNT_OFFSETS: dict[common.GripperType, common.Pose] = {
common.GripperType.FrankaHand: common.Pose(
rotation=common.FrankaHandTCPOffset()[:3, :3], translation=np.array([0.0, 0.0, 0.0])
),
common.GripperType("Robotiq2F85"): common.Pose(
translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 0.7071068, 0.7071068])
),
}

SCENE_PATHS: dict[str, str] = {"empty_world": "assets/scenes/empty_world/scene.xml"}

OBJECT_PATHS: dict[str, str] = {
Expand All @@ -212,9 +221,6 @@ class RobotMetaConfig:
TASKS: dict[str, Any] = {}

DEFAULT_TRANSFORMS = {
"FR3_ROBOTIQ_GRIPPER": common.Pose(
translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 0.7071068, 0.7071068])
),
"FR3_ROBOTIQ_WRIST_D405_MOUNT": common.Pose(
translation=np.array([0.0, 0.0, 0.0]), quaternion=np.array([0.0, 0.0, 0.7071068, 0.7071068])
),
Expand Down
19 changes: 8 additions & 11 deletions python/rcs/envs/configs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -4,7 +4,7 @@

import gymnasium as gym
import numpy as np
from rcs._core.common import FrankaHandTCPOffset, GripperType, RobotType
from rcs._core.common import GripperType, RobotType
from rcs._core.sim import (
CameraType,
SimCameraConfig,
Expand All @@ -24,7 +24,8 @@
from rcs import (
CAMERA_PATHS,
DEFAULT_TRANSFORMS,
GRIPPER_OFFSETS,
GRIPPER_MOUNT_OFFSETS,
GRIPPER_TCP_OFFSETS,
OBJECT_PATHS,
SCENE_PATHS,
)
Expand All @@ -39,7 +40,7 @@ def config(self) -> SimEnvCreatorConfig:
q_home[-1] = np.pi / 4
robot_cfg: SimRobotConfig[Literal[7]] = SimRobotConfig(
robot_type=RobotType.FR3,
tcp_offset=GRIPPER_OFFSETS[rcs.common.GripperType.FrankaHand],
tcp_offset=GRIPPER_TCP_OFFSETS[rcs.common.GripperType.FrankaHand],
attachment_site=rcs.ROBOTS[RobotType.FR3].attachment_site,
kinematic_model_path=rcs.ROBOTS[RobotType.FR3].mjcf_model_path,
joint_rotational_tolerance=0.05 * (np.pi / 180.0),
Expand Down Expand Up @@ -153,9 +154,7 @@ def config(self) -> SimEnvCreatorConfig:
),
}
gripper_offsets: dict[str, rcs.common.Pose] | None = {
self.robot_prefix_template: rcs.common.Pose(
rotation=FrankaHandTCPOffset()[:3, :3], translation=np.array([0.0, 0.0, 0.0])
)
self.robot_prefix_template: GRIPPER_MOUNT_OFFSETS[rcs.common.GripperType.FrankaHand]
}
return SimEnvCreatorConfig(
robot_cfgs=robot_cfgs,
Expand Down Expand Up @@ -186,7 +185,7 @@ class EmptyWorldFR3Duo(SimEnvCreator):

def config(self) -> SimEnvCreatorConfig:
robot_cfg: SimRobotConfig[Literal[7]] = SimRobotConfig(
tcp_offset=GRIPPER_OFFSETS[rcs.common.GripperType("Robotiq2F85")],
tcp_offset=GRIPPER_TCP_OFFSETS[rcs.common.GripperType("Robotiq2F85")],
robot_type=RobotType.FR3,
attachment_site=rcs.ROBOTS[RobotType.FR3].attachment_site,
kinematic_model_path=rcs.ROBOTS[RobotType.FR3].mjcf_model_path,
Expand Down Expand Up @@ -327,9 +326,7 @@ def config(self) -> SimEnvCreatorConfig:
robot_name="right",
),
}
gripper_offset = rcs.common.Pose(
quaternion=np.array(self.gripper_mesh_quaternion_offset), translation=np.array([0.0, 0.0, 0.0])
)
gripper_offset = GRIPPER_MOUNT_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
return SimEnvCreatorConfig(
robot_cfgs=robot_cfgs,
sim_cfg=sim_cfg,
Expand Down Expand Up @@ -363,7 +360,7 @@ def config(self) -> SimEnvCreatorConfig:
lead_robot_name = self.lead_robot_name(cfg)

robot_cfg = cfg.robot_cfgs[lead_robot_name]
robot_cfg.tcp_offset = GRIPPER_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
robot_cfg.tcp_offset = GRIPPER_TCP_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
robot_cfg.attachment_site = rcs.ROBOTS[rt].attachment_site
robot_cfg.kinematic_model_path = rcs.ROBOTS[rt].mjcf_model_path
robot_cfg.arm_collision_geoms = []
Expand Down
2 changes: 1 addition & 1 deletion python/rcs/lerobot_joint_converter.py
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Expand Up @@ -120,7 +120,7 @@ def __init__(
self.source_sql = self._build_source_sql(self.dataset_paths)
self.video_encoding = video_encoding

self.tcp_offset = rcs.GRIPPER_OFFSETS[self.gripper_type]
self.tcp_offset = rcs.GRIPPER_TCP_OFFSETS[self.gripper_type]
self.ik = rcs.common.Pin(
rcs.ROBOTS[robot_type].mjcf_model_path,
rcs.ROBOTS[robot_type].attachment_site,
Expand Down
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