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refactor(fr3): multi env with dicts #226

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Merged
juelg merged 1 commit into from
Nov 9, 2025
Merged

refactor(fr3): multi env with dicts #226

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14 changes: 7 additions & 7 deletions extensions/rcs_fr3/src/rcs_fr3/creators.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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,
Expand All @@ -121,21 +121,21 @@ 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)
env = GripperWrapper(env, gripper, binary=True)

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:
Expand Down