fix(panda): using FR3 class name for linting and ik

Author: juelg

extensions/rcs_panda/src/rcs_panda/creators.py

@@ -30,13 +30,12 @@ def __call__(  # type: ignore
         self,
         ip: str,
         control_mode: ControlMode,
-        robot_cfg: hw.PandaConfig,
+        robot_cfg: hw.FR3Config,
         collision_guard: str | PathLike | None = None,
         gripper_cfg: hw.FHConfig | rcs.hand.tilburg_hand.THConfig | None = None,
         camera_set: HardwareCameraSet | None = None,
         max_relative_movement: float | tuple[float, float] | None = None,
         relative_to: RelativeTo = RelativeTo.LAST_STEP,
-        urdf_path: str | PathLike | None = None,
     ) -> gym.Env:
         """
         Creates a hardware environment for the Panda robot.
@@ -55,16 +54,19 @@ def __call__(  # type: ignore
                 translational movement in meters. If tuple, it restricts both translational (in meters) and rotational
                 (in radians) movements. If None, no restriction is applied.
             relative_to (RelativeTo): Specifies whether the movement is relative to a configured origin or the last step.
-            urdf_path (str | PathLike | None): Path to the URDF file. If None the included one is used. A URDF file is needed for collision guarding.
 
         Returns:
             gym.Env: The configured hardware environment for the Panda robot.
         """
-        if urdf_path is None:
-            urdf_path = rcs.scenes["Panda_empty_world"].urdf
-        ik = rcs.common.RL(str(urdf_path)) if urdf_path is not None else None
-        robot = hw.Panda(ip, ik)
-        robot.set_parameters(robot_cfg)
+        ik = rcs.common.Pin(
+            robot_cfg.kinematic_model_path,
+            robot_cfg.attachment_site,
+            urdf=robot_cfg.kinematic_model_path.endswith(".urdf"),
+        )
+        # ik = rcs_robotics_library._core.rl.RoboticsLibraryIK(robot_cfg.kinematic_model_path)
+
+        robot = hw.FR3(ip, ik)
+        robot.set_config(robot_cfg)
 
         env: gym.Env = RobotEnv(
             robot, ControlMode.JOINTS if collision_guard is not None else control_mode, home_on_reset=True
@@ -107,20 +109,24 @@ class RCSPandaMultiEnvCreator(RCSHardwareEnvCreator):
     def __call__(  # type: ignore
         ips: list[str],
         control_mode: ControlMode,
-        robot_cfg: hw.PandaConfig,
+        robot_cfg: hw.FR3Config,
         gripper_cfg: hw.FHConfig | None = None,
         camera_set: HardwareCameraSet | None = None,
         max_relative_movement: float | tuple[float, float] | None = None,
         relative_to: RelativeTo = RelativeTo.LAST_STEP,
-        urdf_path: str | PathLike | None = None,
     ) -> gym.Env:
 
-        urdf_path = rcs.scenes["panda_empty_world"].urdf
-        ik = rcs.common.RL(str(urdf_path)) if urdf_path is not None else None
-        robots: dict[str, hw.Panda] = {}
+        ik = rcs.common.Pin(
+            robot_cfg.kinematic_model_path,
+            robot_cfg.attachment_site,
+            urdf=robot_cfg.kinematic_model_path.endswith(".urdf"),
+        )
+        # ik = rcs_robotics_library._core.rl.RoboticsLibraryIK(robot_cfg.kinematic_model_path)
+
+        robots: dict[str, hw.FR3] = {}
         for ip in ips:
-            robots[ip] = hw.Panda(ip, ik)
-            robots[ip].set_parameters(robot_cfg)
+            robots[ip] = hw.FR3(ip, ik)
+            robots[ip].set_config(robot_cfg)
 
         envs = {}
         for ip in ips:

extensions/rcs_panda/src/rcs_panda/envs.py

@@ -12,8 +12,8 @@ class PandaHW(gym.Wrapper):
     def __init__(self, env):
         super().__init__(env)
         self.unwrapped: RobotEnv
-        assert isinstance(self.unwrapped.robot, hw.Panda), "Robot must be a hw.Panda instance."
-        self.hw_robot = cast(hw.Panda, self.unwrapped.robot)
+        assert isinstance(self.unwrapped.robot, hw.FR3), "Robot must be a hw.Panda instance."
+        self.hw_robot = cast(hw.FR3, self.unwrapped.robot)
 
     def step(self, action: Any) -> tuple[dict[str, Any], SupportsFloat, bool, bool, dict]:
         try:

extensions/rcs_panda/src/rcs_panda/utils.py

@@ -3,8 +3,8 @@
 from rcs import common
 
 
-def default_panda_hw_robot_cfg(async_control: bool = False) -> hw.PandaConfig:
-    robot_cfg = hw.PandaConfig()
+def default_panda_hw_robot_cfg(async_control: bool = False) -> hw.FR3Config:
+    robot_cfg = hw.FR3Config()
     robot_cfg.tcp_offset = common.Pose(common.FrankaHandTCPOffset())
     robot_cfg.speed_factor = 0.1
     robot_cfg.ik_solver = hw.IKSolver.rcs_ik