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adapt: pr #322 in rcs #3

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adapt: pr #322 in rcs #3

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11 changes: 3 additions & 8 deletions scripts/grasp_robotiq_demo.py
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Original file line number Diff line number Diff line change
Expand Up @@ -96,7 +96,7 @@ def main():
scene = EmptyWorldFR3()
cfg = scene.config()
cfg.control_mode = ControlMode.CARTESIAN_TRPY
cfg.robot_cfgs['robot'].tcp_offset = rcs.GRIPPER_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
cfg.robot_cfgs["robot"].tcp_offset = rcs.GRIPPER_TCP_OFFSETS[rcs.common.GripperType("Robotiq2F85")]
cfg.relative_to = RelativeTo.NONE
gripper_cfg = SimGripperConfig(
epsilon_inner=0.005,
Expand All @@ -113,13 +113,8 @@ def main():
min_actuator_width=255,
gripper_type=GripperType("Robotiq2F85"),
)
cfg.gripper_cfgs = {
"robot": gripper_cfg
}
gripper_offset = rcs.common.Pose(
quaternion=np.array([0, 0, 0.7071068, 0.7071068]), translation=np.array([0.0, 0.0, 0.0])
)
cfg.gripper_offsets = {"robot": gripper_offset}
cfg.gripper_cfgs = {"robot": gripper_cfg}
cfg.gripper_offsets = {"robot": rcs.GRIPPER_MOUNT_OFFSETS[rcs.common.GripperType("Robotiq2F85")]}
cfg.sim_cfg.realtime = False
cfg.sim_cfg.async_control = True
cfg.max_relative_movement = None
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