refactor: removed lab specific wrappers

Author: juelg

python/rcs/__init__.py

@@ -7,8 +7,6 @@
 from rcs import camera, control, envs, hand, sim
 from rcs._core import __version__, common, hw
 from rcs.envs.creators import (
-    FR3LabPickUpSimDigitHandEnvCreator,
-    FR3SimplePickUpSimDigitHandEnvCreator,
     FR3SimplePickUpSimEnvCreator,
     RCSFR3DefaultEnvCreator,
     RCSFR3EnvCreator,
@@ -28,15 +26,6 @@
     entry_point=FR3SimplePickUpSimEnvCreator(),
 )
 
-register(
-    id="rcs/SimplePickUpSimDigitHand-v0",
-    entry_point=FR3SimplePickUpSimDigitHandEnvCreator(),
-)
-register(
-    id="rcs/LabPickUpSimDigitHand-v0",
-    entry_point=FR3LabPickUpSimDigitHandEnvCreator(),
-)
-
 register(
     id="rcs/FR3Env-v0",
     entry_point=RCSFR3EnvCreator(),

python/rcs/envs/creators.py

@@ -23,15 +23,13 @@
 )
 from rcs.envs.hw import FR3HW
 from rcs.envs.sim import (
-    CamRobot,
     CollisionGuard,
     GripperWrapperSim,
     PickCubeSuccessWrapper,
     RandomCubePos,
     RobotSimWrapper,
     SimWrapper,
 )
-from rcs.envs.space_utils import VecType
 from rcs.envs.utils import (
     default_fr3_hw_gripper_cfg,
     default_fr3_hw_robot_cfg,
@@ -350,68 +348,3 @@ def __call__(  # type: ignore
         }
 
         return SimTaskEnvCreator()("fr3_simple_pick_up", render_mode, control_mode, delta_actions, cameras)
-
-
-class FR3SimplePickUpSimDigitHandEnvCreator(EnvCreator):
-    def __call__(  # type: ignore
-        self,
-        render_mode: str = "human",
-        control_mode: ControlMode = ControlMode.CARTESIAN_TRPY,
-        resolution: tuple[int, int] | None = None,
-        frame_rate: int = 0,
-        delta_actions: bool = True,
-    ) -> gym.Env:
-        if resolution is None:
-            resolution = (256, 256)
-
-        cameras = {
-            "wrist": SimCameraConfig(
-                identifier="wrist_0",
-                type=CameraType.fixed,
-                resolution_height=resolution[1],
-                resolution_width=resolution[0],
-                frame_rate=frame_rate,
-            )
-        }
-
-        return SimTaskEnvCreator()("fr3_simple_pick_up_digit_hand", render_mode, control_mode, delta_actions, cameras)
-
-
-class FR3LabPickUpSimDigitHandEnvCreator(EnvCreator):
-    def __call__(  # type: ignore
-        self,
-        cam_robot_joints: VecType,
-        render_mode: str = "human",
-        control_mode: ControlMode = ControlMode.CARTESIAN_TRPY,
-        resolution: tuple[int, int] | None = None,
-        frame_rate: int = 0,
-        delta_actions: bool = True,
-    ) -> gym.Env:
-        if resolution is None:
-            resolution = (256, 256)
-
-        cameras = {
-            "wrist": SimCameraConfig(
-                identifier="wrist_0",
-                type=CameraType.fixed,
-                resolution_height=resolution[1],
-                resolution_width=resolution[0],
-                frame_rate=frame_rate,
-            ),
-            "side": SimCameraConfig(
-                identifier="wrist_1",
-                type=CameraType.fixed,
-                resolution_height=resolution[1],
-                resolution_width=resolution[0],
-                frame_rate=frame_rate,
-            ),
-        }
-
-        env_rel = SimTaskEnvCreator()(
-            "lab_simple_pick_up_digit_hand",
-            render_mode,
-            control_mode,
-            delta_actions,
-            cameras,
-        )
-        return CamRobot(env_rel, cam_robot_joints, "lab_simple_pick_up_digit_hand")

python/rcs/envs/sim.py

@@ -6,7 +6,7 @@
 import rcs
 from rcs import sim
 from rcs.envs.base import ControlMode, GripperWrapper, MultiRobotWrapper, RobotEnv
-from rcs.envs.space_utils import ActObsInfoWrapper, VecType
+from rcs.envs.space_utils import ActObsInfoWrapper
 from rcs.envs.utils import default_fr3_sim_robot_cfg
 
 logger = logging.getLogger(__name__)
@@ -313,29 +313,3 @@ def step(self, action: dict[str, Any]):
         # normalize
         reward /= 5  # type: ignore
         return obs, reward, success, truncated, info
-
-
-class CamRobot(gym.Wrapper):
-    """Use this wrapper in lab setups where the second arm is used as a camera holder."""
-
-    def __init__(self, env, cam_robot_joints: VecType, scene: str = "lab_simple_pick_up_digit_hand"):
-        super().__init__(env)
-        self.unwrapped: RobotEnv
-        assert isinstance(self.unwrapped.robot, sim.SimRobot), "Robot must be a sim.SimRobot instance."
-        self.sim = env.get_wrapper_attr("sim")
-        cfg = default_fr3_sim_robot_cfg(scene, "1")
-        self.cam_robot = rcs.sim.SimRobot(
-            self.sim, env.unwrapped.robot.get_ik(), cfg, register_convergence_callback=False
-        )
-        self.cam_robot.set_parameters(default_fr3_sim_robot_cfg(scene))
-        self.cam_robot_joints = cam_robot_joints
-
-    def step(self, action: dict):
-        self.cam_robot.set_joints_hard(self.cam_robot_joints)
-        obs, reward, done, truncated, info = super().step(action)
-        return obs, reward, done, truncated, info
-
-    def reset(self, *, seed=None, options=None):
-        re = super().reset(seed=seed, options=options)
-        self.cam_robot.reset()
-        return re