chore: remove default collision guard flag from creator calls

Author: juelg

README.md

@@ -72,7 +72,6 @@ from rcs.envs.utils import (
 from rcs.envs.base import ControlMode, RelativeTo
 env_rel = SimEnvCreator()(
     control_mode=ControlMode.JOINTS,
-    collision_guard=False,
     robot_cfg=default_sim_robot_cfg(),
     gripper_cfg=default_sim_gripper_cfg(),
     cameras=default_mujoco_cameraset_cfg(),

examples/rpc_server_client/rpc_run_server.py

@@ -11,7 +11,6 @@
 def run_server():
     env = SimEnvCreator()(
         control_mode=ControlMode.JOINTS,
-        collision_guard=False,
         robot_cfg=default_sim_robot_cfg(),
         gripper_cfg=default_sim_gripper_cfg(),
         cameras=default_mujoco_cameraset_cfg(),

examples/xarm7/xarm7_env_cartesian_control.py

@@ -40,7 +40,6 @@ def main():
     env_rel = SimEnvCreator()(
         robot_cfg=robot_cfg,
         control_mode=ControlMode.CARTESIAN_TQuat,
-        collision_guard=False,
         gripper_cfg=None,
         # cameras=default_mujoco_cameraset_cfg(),
         max_relative_movement=0.5,

examples/xarm7/xarm7_env_joint_control.py

@@ -40,7 +40,6 @@ def main():
     env_rel = SimEnvCreator()(
         robot_cfg=robot_cfg,
         control_mode=ControlMode.JOINTS,
-        collision_guard=False,
         gripper_cfg=None,
         # cameras=default_mujoco_cameraset_cfg(),
         max_relative_movement=np.deg2rad(5),

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -49,8 +49,6 @@ def __call__(  # type: ignore
             robot_cfg (hw.FR3Config): Configuration for the FR3 robot.
             collision_guard (str | PathLike | None): Key to a built-in scene
             robot_cfg (hw.FR3Config): Configuration for the FR3 robot.
-            collision_guard (str | PathLike | None): Key to a scene (requires UTN compatible scene package to be present)
-                or the path to a mujoco scene for collision guarding. If None, collision guarding is not used.
             gripper_cfg (hw.FHConfig | None): Configuration for the gripper. If None, no gripper is used.
             camera_set (BaseHardwareCameraSet | None): Camera set to be used. If None, no cameras are used.
             max_relative_movement (float | tuple[float, float] | None): Maximum allowed movement. If float, it restricts
@@ -84,6 +82,7 @@ def __call__(  # type: ignore
             logger.info("CameraSet started")
             env = CameraSetWrapper(env, camera_set)
 
+        # TODO collision guard not working atm
         # if collision_guard is not None:
         #     assert urdf_path is not None
         #     env = CollisionGuard.env_from_xml_paths(

extensions/rcs_so101/src/rcs_so101/env_joint_control.py

@@ -43,7 +43,6 @@ def main():
             control_mode=ControlMode.JOINTS,
             urdf_path="/home/tobi/coding/lerobot/so101_new_calib.urdf",
             robot_cfg=cfg,
-            collision_guard=False,
             mjcf="/home/tobi/coding/lerobot/SO-ARM100/Simulation/SO101/scene.xml",
             gripper_cfg=grp_cfg,
             # camera_set_cfg=default_mujoco_cameraset_cfg(),

extensions/rcs_xarm7/src/rcs_xarm7/creators.py

@@ -114,18 +114,18 @@ def __call__(  # type: ignore
             env = GripperWrapper(env, gripper, binary=False)
             env = GripperWrapperSim(env, gripper)
 
-        if collision_guard:
-            env = CollisionGuard.env_from_xml_paths(
-                env,
-                str(rcs.scenes.get(str(mjcf), mjcf)),
-                str(urdf_path),
-                gripper=gripper_cfg is not None,
-                check_home_collision=False,
-                control_mode=control_mode,
-                tcp_offset=rcs.common.Pose(common.FrankaHandTCPOffset()),
-                sim_gui=True,
-                truncate_on_collision=True,
-            )
+        # if collision_guard:
+        #     env = CollisionGuard.env_from_xml_paths(
+        #         env,
+        #         str(rcs.scenes.get(str(mjcf), mjcf)),
+        #         str(urdf_path),
+        #         gripper=gripper_cfg is not None,
+        #         check_home_collision=False,
+        #         control_mode=control_mode,
+        #         tcp_offset=rcs.common.Pose(common.FrankaHandTCPOffset()),
+        #         sim_gui=True,
+        #         truncate_on_collision=True,
+        #     )
         if max_relative_movement is not None:
             env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to)
 

extensions/rcs_xarm7/src/rcs_xarm7/env_cartesian_control.py

@@ -48,7 +48,6 @@ def sim_env():
     env_rel = SimEnvCreator()(
         robot_cfg=robot_cfg,
         control_mode=ControlMode.CARTESIAN_TQuat,
-        collision_guard=False,
         gripper_cfg=None,
         hand_cfg=default_sim_tilburg_hand_cfg(),
         # cameras=default_mujoco_cameraset_cfg(),

extensions/rcs_xarm7/src/rcs_xarm7/env_grasp.py

@@ -47,7 +47,6 @@ def sim_env():
     env_rel = SimEnvCreator()(
         robot_cfg=robot_cfg,
         control_mode=ControlMode.JOINTS,
-        collision_guard=False,
         gripper_cfg=None,
         hand_cfg=default_sim_tilburg_hand_cfg(),
         # cameras=default_mujoco_cameraset_cfg(),

extensions/rcs_xarm7/src/rcs_xarm7/env_joint_control.py

@@ -56,7 +56,6 @@ def main():
         env_rel = SimEnvCreator()(
             robot_cfg=robot_cfg,
             control_mode=ControlMode.JOINTS,
-            collision_guard=False,
             gripper_cfg=None,
             # cameras=default_mujoco_cameraset_cfg(),
             max_relative_movement=np.deg2rad(5),