From a8167e7a1dff2b6485f6006592f8f604dd9be232 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Tobias=20J=C3=BClg?= Date: Sun, 9 Nov 2025 22:28:52 +0100 Subject: [PATCH] refactor(fr3): multi env with dicts --- extensions/rcs_fr3/src/rcs_fr3/creators.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/extensions/rcs_fr3/src/rcs_fr3/creators.py b/extensions/rcs_fr3/src/rcs_fr3/creators.py index 691fe257..d9589ca2 100644 --- a/extensions/rcs_fr3/src/rcs_fr3/creators.py +++ b/extensions/rcs_fr3/src/rcs_fr3/creators.py @@ -104,7 +104,7 @@ def __call__( # type: ignore class RCSFR3MultiEnvCreator(RCSHardwareEnvCreator): def __call__( # type: ignore - ips: list[str], + name2ip: dict[str, str], control_mode: ControlMode, robot_cfg: hw.FR3Config, gripper_cfg: hw.FHConfig | None = None, @@ -121,13 +121,13 @@ def __call__( # type: ignore # ik = rcs_robotics_library._core.rl.RoboticsLibraryIK(robot_cfg.kinematic_model_path) robots: dict[str, hw.Franka] = {} - for ip in ips: - robots[ip] = hw.Franka(ip, ik) - robots[ip].set_config(robot_cfg) + for key, ip in name2ip.items(): + robots[key] = hw.Franka(ip, ik) + robots[key].set_config(robot_cfg) envs = {} - for ip in ips: - env: gym.Env = RobotEnv(robots[ip], control_mode) + for key, ip in name2ip.items(): + env: gym.Env = RobotEnv(robots[key], control_mode) env = FR3HW(env) if gripper_cfg is not None: gripper = hw.FrankaHand(ip, gripper_cfg) @@ -135,7 +135,7 @@ def __call__( # type: ignore if max_relative_movement is not None: env = RelativeActionSpace(env, max_mov=max_relative_movement, relative_to=relative_to) - envs[ip] = env + envs[key] = env env = MultiRobotWrapper(envs) if camera_set is not None: