docs: added hw to fr3 examples

Author: juelg

examples/__init__.py

@@ -1,5 +1,6 @@
 import logging
 
+from rcs._core.common import RobotPlatform
 from rcs.envs.base import ControlMode, RelativeTo
 from rcs.envs.creators import SimEnvCreator
 from rcs.envs.utils import (
@@ -11,38 +12,59 @@
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)
 
+"""
+This script demonstrates how to control the FR3 robot in Cartesian position control mode
+using relative movements. The robot (or its simulation) moves 1cm forward and then 1cm backward
+in a loop while opening and closing the gripper.
 
-def main():
+To control a real FR3 robot, install the rcs_fr3 extension (`pip install extensions/rcs_fr3`),
+and set the FR3_IP variable to the robot's IP address. Make sure to unlock the robot's joints and
+put it into FCI mode before running this script. For a scripted way of unlocking and guiding mode see the
+fr3_direct_control.py example which uses the FCI context manager.
+"""
+
+ROBOT_INSTANCE = RobotPlatform.SIMULATION
+FR3_IP = "192.168.101.1"
 
-    env_rel = SimEnvCreator()(
-        control_mode=ControlMode.CARTESIAN_TQuat,
-        robot_cfg=default_sim_robot_cfg(scene="fr3_empty_world"),
-        collision_guard=False,
-        gripper_cfg=default_sim_gripper_cfg(),
-        cameras=default_mujoco_cameraset_cfg(),
-        max_relative_movement=0.5,
-        relative_to=RelativeTo.LAST_STEP,
-    )
-    env_rel.get_wrapper_attr("sim").open_gui()
+def main():
+    if ROBOT_INSTANCE == RobotPlatform.SIMULATION:
+        env_rel = SimEnvCreator()(
+            control_mode=ControlMode.CARTESIAN_TQuat,
+            robot_cfg=default_sim_robot_cfg(scene="fr3_empty_world"),
+            gripper_cfg=default_sim_gripper_cfg(),
+            cameras=default_mujoco_cameraset_cfg(),
+            max_relative_movement=0.5,
+            relative_to=RelativeTo.LAST_STEP,
+        )
+        env_rel.get_wrapper_attr("sim").open_gui()
+    else:
+        from rcs_fr3.creators import RCSFR3EnvCreator
+        from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
+        env_rel = RCSFR3EnvCreator()(
+            ip=FR3_IP,
+            control_mode=ControlMode.CARTESIAN_TQuat,
+            robot_cfg=default_fr3_hw_robot_cfg(),
+            gripper_cfg=default_fr3_hw_gripper_cfg(),
+            camera_set=None,
+            max_relative_movement=0.5,
+            relative_to=RelativeTo.LAST_STEP,
+        )
+        input("the robot is going to move, press enter whenever you are ready")
 
     env_rel.reset()
+
+    # access low level robot api to get current cartesian position
     print(env_rel.unwrapped.robot.get_cartesian_position())  # type: ignore
 
     for _ in range(100):
         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__":

examples/fr3/fr3_env_cartesian_control.py

@@ -1,6 +1,7 @@
 import logging
 
 import numpy as np
+from rcs._core.common import RobotPlatform
 from rcs.envs.base import ControlMode, RelativeTo
 from rcs.envs.creators import SimEnvCreator
 from rcs.envs.utils import (
@@ -12,28 +13,55 @@
 logger = logging.getLogger(__name__)
 logger.setLevel(logging.INFO)
 
+"""
+This script demonstrates how to control the FR3 robot in joint position control mode
+using relative movements. The robot (or its simulation) samples random relative joint movements
+in a loop.
+
+To control a real FR3 robot, install the rcs_fr3 extension (`pip install extensions/rcs_fr3`),
+change the ROBOT_INSTANCE variable to RobotPlatform.HARDWARE
+and set the FR3_IP variable to the robot's IP address. Make sure to unlock the robot's joints and
+put it into FCI mode before running this script. For a scripted way of unlocking and guiding mode see the
+fr3_direct_control.py example which uses the FCI context manager.
+"""
+
+ROBOT_INSTANCE = RobotPlatform.SIMULATION
+FR3_IP = "192.168.101.1"
 
 def main():
-    env_rel = SimEnvCreator()(
-        control_mode=ControlMode.JOINTS,
-        collision_guard=False,
-        robot_cfg=default_sim_robot_cfg("fr3_empty_world"),
-        gripper_cfg=default_sim_gripper_cfg(),
-        cameras=default_mujoco_cameraset_cfg(),
-        max_relative_movement=np.deg2rad(5),
-        relative_to=RelativeTo.LAST_STEP,
-    )
-    env_rel.get_wrapper_attr("sim").open_gui()
+    if ROBOT_INSTANCE == RobotPlatform.SIMULATION:
+        env_rel = SimEnvCreator()(
+            control_mode=ControlMode.JOINTS,
+            robot_cfg=default_sim_robot_cfg("fr3_empty_world"),
+            gripper_cfg=default_sim_gripper_cfg(),
+            cameras=default_mujoco_cameraset_cfg(),
+            max_relative_movement=np.deg2rad(5),
+            relative_to=RelativeTo.LAST_STEP,
+        )
+        env_rel.get_wrapper_attr("sim").open_gui()
+    else:
+        from rcs_fr3.creators import RCSFR3EnvCreator
+        from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
+        env_rel = RCSFR3EnvCreator()(
+            ip=FR3_IP,
+            control_mode=ControlMode.JOINTS,
+            robot_cfg=default_fr3_hw_robot_cfg(),
+            gripper_cfg=default_fr3_hw_gripper_cfg(),
+            camera_set=None,
+            max_relative_movement=np.deg2rad(5),
+            relative_to=RelativeTo.LAST_STEP,
+        )
+        input("the robot is going to move, press enter whenever you are ready")
+
+    # access low level robot api to get current cartesian position
+    print(env_rel.unwrapped.robot.get_joint_position())  # type: ignore
 
     for _ in range(100):
         obs, info = env_rel.reset()
         for _ in range(10):
             # sample random relative action and execute it
             act = env_rel.action_space.sample()
             obs, reward, terminated, truncated, info = env_rel.step(act)
-            if truncated or terminated:
-                logger.info("Truncated or terminated!")
-                return
 
 
 if __name__ == "__main__":