refactor: rename set and get parameters to config

examples/fr3/fr3_direct_control.py

@@ -98,7 +98,7 @@ def main():
             robot_cfg = hw.FR3Config()
             robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
             robot_cfg.ik_solver = hw.IKSolver.rcs_ik
-            robot.set_parameters(robot_cfg)  # type: ignore
+            robot.set_config(robot_cfg)  # type: ignore
 
             gripper_cfg_hw = hw.FHConfig()
             gripper_cfg_hw.epsilon_inner = gripper_cfg_hw.epsilon_outer = 0.1

extensions/rcs_fr3/README.md

@@ -25,7 +25,7 @@ with FCI(Desk(ROBOT_IP, user, pw), unlock=False, lock_when_done=False):
     robot_cfg = FR3Config()
     robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
     robot_cfg.ik_solver = IKSolver.rcs_ik
-    robot.set_parameters(robot_cfg)
+    robot.set_config(robot_cfg)
 
     gripper_cfg_hw = hw.FHConfig()
     gripper_cfg_hw.epsilon_inner = gripper_cfg_hw.epsilon_outer = 0.1

extensions/rcs_fr3/src/hw/FR3.cpp

@@ -38,7 +38,7 @@ FR3::~FR3() {}
  * @param cfg The configuration for the robot, it should be a FR3Config type
  * otherwise the call will fail
  */
-bool FR3::set_parameters(const FR3Config &cfg) {
+bool FR3::set_config(const FR3Config &cfg) {
   this->cfg = cfg;
   this->cfg.speed_factor = std::min(std::max(cfg.speed_factor, 0.0), 1.0);
 
@@ -59,7 +59,7 @@ bool FR3::set_parameters(const FR3Config &cfg) {
   return true;
 }
 
-FR3Config *FR3::get_parameters() {
+FR3Config *FR3::get_config() {
   // copy config to heap
   FR3Config *cfg = new FR3Config();
   *cfg = this->cfg;

extensions/rcs_fr3/src/hw/FR3.h

@@ -66,9 +66,9 @@ class FR3 : public common::Robot {
       const std::optional<FR3Config> &cfg = std::nullopt);
   ~FR3() override;
 
-  bool set_parameters(const FR3Config &cfg);
+  bool set_config(const FR3Config &cfg);
 
-  FR3Config *get_parameters() override;
+  FR3Config *get_config() override;
 
   FR3State *get_state() override;
 

extensions/rcs_fr3/src/hw/FrankaHand.cpp

@@ -20,7 +20,7 @@ FrankaHand::FrankaHand(const std::string &ip, const FHConfig &cfg)
 
 FrankaHand::~FrankaHand() {}
 
-bool FrankaHand::set_parameters(const FHConfig &cfg) {
+bool FrankaHand::set_config(const FHConfig &cfg) {
   franka::GripperState gripper_state = this->gripper.readOnce();
   if (gripper_state.max_width < cfg.grasping_width) {
     return false;
@@ -29,7 +29,7 @@ bool FrankaHand::set_parameters(const FHConfig &cfg) {
   return true;
 }
 
-FHConfig *FrankaHand::get_parameters() {
+FHConfig *FrankaHand::get_config() {
   // copy config to heap
   FHConfig *cfg = new FHConfig();
   *cfg = this->cfg;

extensions/rcs_fr3/src/hw/FrankaHand.h

@@ -57,9 +57,9 @@ class FrankaHand : public common::Gripper {
   FrankaHand(const std::string &ip, const FHConfig &cfg);
   ~FrankaHand() override;
 
-  bool set_parameters(const FHConfig &cfg);
+  bool set_config(const FHConfig &cfg);
 
-  FHConfig *get_parameters() override;
+  FHConfig *get_config() override;
 
   FHState *get_state() override;
 

extensions/rcs_fr3/src/pybind/rcs.cpp

@@ -101,8 +101,8 @@ PYBIND11_MODULE(_core, m) {
       .def(py::init<const std::string &,
                     std::optional<std::shared_ptr<rcs::common::IK>>>(),
            py::arg("ip"), py::arg("ik") = std::nullopt)
-      .def("set_parameters", &rcs::hw::FR3::set_parameters, py::arg("cfg"))
-      .def("get_parameters", &rcs::hw::FR3::get_parameters)
+      .def("set_config", &rcs::hw::FR3::set_config, py::arg("cfg"))
+      .def("get_config", &rcs::hw::FR3::get_config)
       .def("get_state", &rcs::hw::FR3::get_state)
       .def("set_default_robot_behavior",
            &rcs::hw::FR3::set_default_robot_behavior)
@@ -132,10 +132,9 @@ PYBIND11_MODULE(_core, m) {
       hw, "FrankaHand", gripper)
       .def(py::init<const std::string &, const rcs::hw::FHConfig &>(),
            py::arg("ip"), py::arg("cfg"))
-      .def("get_parameters", &rcs::hw::FrankaHand::get_parameters)
+      .def("get_config", &rcs::hw::FrankaHand::get_config)
       .def("get_state", &rcs::hw::FrankaHand::get_state)
-      .def("set_parameters", &rcs::hw::FrankaHand::set_parameters,
-           py::arg("cfg"))
+      .def("set_config", &rcs::hw::FrankaHand::set_config, py::arg("cfg"))
       .def("is_grasped", &rcs::hw::FrankaHand::is_grasped)
       .def("homing", &rcs::hw::FrankaHand::homing);
 

extensions/rcs_fr3/src/rcs_fr3/_core/hw/__init__.pyi

@@ -58,13 +58,14 @@ class FR3(rcs._core.common.Robot):
         self, desired_q: numpy.ndarray[tuple[typing.Literal[7]], numpy.dtype[numpy.float64]]
     ) -> None: ...
     def double_tap_robot_to_continue(self) -> None: ...
-    def get_parameters(self) -> FR3Config: ...
+    def get_config(self) -> FR3Config: ...
     def get_state(self) -> FR3State: ...
     def osc_set_cartesian_position(self, desired_pos_EE_in_base_frame: rcs._core.common.Pose) -> None: ...
     def set_cartesian_position_ik(
         self, pose: rcs._core.common.Pose, max_time: float, elbow: float | None, max_force: float | None = 5
     ) -> None: ...
     def set_cartesian_position_internal(self, pose: rcs._core.common.Pose) -> None: ...
+    def set_config(self, cfg: FR3Config) -> bool: ...
     def set_default_robot_behavior(self) -> None: ...
     def set_guiding_mode(
         self,
@@ -76,7 +77,6 @@ class FR3(rcs._core.common.Robot):
         yaw: bool = True,
         elbow: bool = True,
     ) -> None: ...
-    def set_parameters(self, cfg: FR3Config) -> bool: ...
     def stop_control_thread(self) -> None: ...
     def zero_torque_guiding(self) -> None: ...
 
@@ -100,11 +100,11 @@ class FR3State(rcs._core.common.RobotState):
 
 class FrankaHand(rcs._core.common.Gripper):
     def __init__(self, ip: str, cfg: FHConfig) -> None: ...
-    def get_parameters(self) -> FHConfig: ...
+    def get_config(self) -> FHConfig: ...
     def get_state(self) -> FHState: ...
     def homing(self) -> bool: ...
     def is_grasped(self) -> bool: ...
-    def set_parameters(self, cfg: FHConfig) -> bool: ...
+    def set_config(self, cfg: FHConfig) -> bool: ...
 
 class IKSolver:
     """

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -64,7 +64,7 @@ def __call__(  # type: ignore
             urdf_path = rcs.scenes["fr3_empty_world"].urdf
         ik = rcs.common.RL(str(urdf_path)) if urdf_path is not None else None
         robot = hw.FR3(ip, ik)
-        robot.set_parameters(robot_cfg)
+        robot.set_config(robot_cfg)
 
         env: gym.Env = RobotEnv(robot, ControlMode.JOINTS if collision_guard is not None else control_mode)
 
@@ -119,7 +119,7 @@ def __call__(  # type: ignore
         robots: dict[str, hw.FR3] = {}
         for ip in ips:
             robots[ip] = hw.FR3(ip, ik)
-            robots[ip].set_parameters(robot_cfg)
+            robots[ip].set_config(robot_cfg)
 
         envs = {}
         for ip in ips:

extensions/rcs_fr3/src/rcs_fr3/desk.py

@@ -41,7 +41,7 @@ def home(ip: str, username: str, password: str, shut: bool, unlock: bool = False
         config = rcs_fr3.hw.FR3Config()
         config.speed_factor = 0.2
         config.ik_solver = rcs_fr3.hw.IKSolver.franka_ik
-        f.set_parameters(config)
+        f.set_config(config)
         config_hand = rcs_fr3.hw.FHConfig()
         g = rcs_fr3.hw.FrankaHand(ip, config_hand)
         if shut:
@@ -55,7 +55,7 @@ def info(ip: str, username: str, password: str, include_hand: bool = False):
     with Desk.fci(ip, username, password):
         f = rcs_fr3.hw.FR3(ip)
         config = rcs_fr3.hw.FR3Config()
-        f.set_parameters(config)
+        f.set_config(config)
         print("Robot info:")
         print("Current cartesian position:")
         print(f.get_cartesian_position())

extensions/rcs_so101/src/rcs_so101/hw.py

@@ -35,7 +35,7 @@ def get_joint_position(self) -> np.ndarray[tuple[typing.Literal[5]], np.dtype[np
             ),
         )
 
-    def get_parameters(self):
+    def get_config(self):
         a = common.RobotConfig()
         a.robot_platform = common.RobotPlatform.HARDWARE
         a.robot_type = common.RobotType.SO101
@@ -83,7 +83,7 @@ def get_normalized_width(self) -> float:
         obs = self._hf_robot.get_observation()
         return obs["gripper.pos"] / 100.0
 
-    # def get_parameters(self) -> GripperConfig: ...
+    # def get_config(self) -> GripperConfig: ...
     # def get_state(self) -> GripperState: ...
 
     def grasp(self) -> None:

extensions/rcs_xarm7/src/rcs_xarm7/hw.py

@@ -61,10 +61,10 @@ def get_joint_position(self) -> np.ndarray[tuple[typing.Literal[7]], np.dtype[np
             np.array(self._xarm.get_servo_angle(is_radian=True)[1]),
         )
 
-    def get_parameters(self) -> XArm7Config:
+    def get_config(self) -> XArm7Config:
         return self._config
 
-    def set_parameters(self, robot_cfg: XArm7Config) -> None:
+    def set_config(self, robot_cfg: XArm7Config) -> None:
         self._config = robot_cfg
 
     def get_state(self) -> common.RobotState:

include/rcs/Robot.h

@@ -128,13 +128,13 @@ class Robot {
  public:
   virtual ~Robot(){};
 
-  // Also add an implementation specific set_parameters function that takes
+  // Also add an implementation specific set_config function that takes
   // a deduced config type
-  // This functino can also be used for signaling e.g. error recovery and the
+  // This function can also be used for signaling e.g. error recovery and the
   // like
-  // bool set_parameters(const RConfig& cfg);
+  // bool set_config(const RConfig& cfg);
 
-  virtual RobotConfig* get_parameters() = 0;
+  virtual RobotConfig* get_config() = 0;
 
   virtual RobotState* get_state() = 0;
 
@@ -167,11 +167,11 @@ class Gripper {
  public:
   virtual ~Gripper(){};
 
-  // Also add an implementation specific set_parameters function that takes
+  // Also add an implementation specific set_config function that takes
   // a deduced config type
-  // bool set_parameters(const GConfig& cfg);
+  // bool set_config(const GConfig& cfg);
 
-  virtual GripperConfig* get_parameters() = 0;
+  virtual GripperConfig* get_config() = 0;
   virtual GripperState* get_state() = 0;
 
   // set width of the gripper, 0 is closed, 1 is open
@@ -200,11 +200,11 @@ class Hand {
  public:
   virtual ~Hand(){};
   // TODO: Add low-level control interface for the hand with internal state updates
-  // Also add an implementation specific set_parameters function that takes
+  // Also add an implementation specific set_config function that takes
   // a deduced config type
-  // bool set_parameters(const GConfig& cfg);
+  // bool set_config(const GConfig& cfg);
 
-  virtual HandConfig* get_parameters() = 0;
+  virtual HandConfig* get_config() = 0;
   virtual HandState* get_state() = 0;
 
   // set width of the hand, 0 is closed, 1 is open

python/rcs/_core/common.pyi

@@ -93,8 +93,8 @@ class GraspType:
 class Gripper:
     def __init__(self) -> None: ...
     def close(self) -> None: ...
+    def get_config(self) -> GripperConfig: ...
     def get_normalized_width(self) -> float: ...
-    def get_parameters(self) -> GripperConfig: ...
     def get_state(self) -> GripperState: ...
     def grasp(self) -> None: ...
     def is_grasped(self) -> bool: ...
@@ -112,8 +112,8 @@ class GripperState:
 class Hand:
     def __init__(self) -> None: ...
     def close(self) -> None: ...
+    def get_config(self) -> HandConfig: ...
     def get_normalized_joint_poses(self) -> numpy.ndarray[tuple[M], numpy.dtype[numpy.float64]]: ...
-    def get_parameters(self) -> HandConfig: ...
     def get_state(self) -> HandState: ...
     def grasp(self) -> None: ...
     def is_grasped(self) -> bool: ...
@@ -222,9 +222,9 @@ class Robot:
     def close(self) -> None: ...
     def get_base_pose_in_world_coordinates(self) -> Pose: ...
     def get_cartesian_position(self) -> Pose: ...
+    def get_config(self) -> RobotConfig: ...
     def get_ik(self) -> IK | None: ...
     def get_joint_position(self) -> numpy.ndarray[tuple[M], numpy.dtype[numpy.float64]]: ...
-    def get_parameters(self) -> RobotConfig: ...
     def get_state(self) -> RobotState: ...
     def move_home(self) -> None: ...
     def reset(self) -> None: ...

python/rcs/_core/sim.pyi

@@ -118,9 +118,9 @@ class SimConfig:
 
 class SimGripper(rcs._core.common.Gripper):
     def __init__(self, sim: Sim, cfg: SimGripperConfig) -> None: ...
-    def get_parameters(self) -> SimGripperConfig: ...
+    def get_config(self) -> SimGripperConfig: ...
     def get_state(self) -> SimGripperState: ...
-    def set_parameters(self, cfg: SimGripperConfig) -> bool: ...
+    def set_config(self, cfg: SimGripperConfig) -> bool: ...
 
 class SimGripperConfig(rcs._core.common.GripperConfig):
     actuator: str
@@ -153,10 +153,10 @@ class SimRobot(rcs._core.common.Robot):
     def __init__(
         self, sim: Sim, ik: rcs._core.common.IK, cfg: SimRobotConfig, register_convergence_callback: bool = True
     ) -> None: ...
-    def get_parameters(self) -> SimRobotConfig: ...
+    def get_config(self) -> SimRobotConfig: ...
     def get_state(self) -> SimRobotState: ...
+    def set_config(self, cfg: SimRobotConfig) -> bool: ...
     def set_joints_hard(self, q: numpy.ndarray[tuple[M], numpy.dtype[numpy.float64]]) -> None: ...
-    def set_parameters(self, cfg: SimRobotConfig) -> bool: ...
 
 class SimRobotConfig(rcs._core.common.RobotConfig):
     actuators: list[str]
@@ -190,9 +190,9 @@ class SimRobotState(rcs._core.common.RobotState):
 
 class SimTilburgHand(rcs._core.common.Hand):
     def __init__(self, sim: Sim, cfg: SimTilburgHandConfig) -> None: ...
-    def get_parameters(self) -> SimTilburgHandConfig: ...
+    def get_config(self) -> SimTilburgHandConfig: ...
     def get_state(self) -> SimTilburgHandState: ...
-    def set_parameters(self, cfg: SimTilburgHandConfig) -> bool: ...
+    def set_config(self, cfg: SimTilburgHandConfig) -> bool: ...
 
 class SimTilburgHandConfig(rcs._core.common.HandConfig):
     actuators: list[str]

python/rcs/envs/base.py

@@ -176,21 +176,21 @@ class ControlMode(Enum):
 
 def get_dof(robot: common.Robot) -> int:
     """Returns the number of degrees of freedom of the robot."""
-    return common.robots_meta_config(robot.get_parameters().robot_type).dof
+    return common.robots_meta_config(robot.get_config().robot_type).dof
 
 
 def get_joint_limits(robot: common.Robot) -> tuple[np.ndarray, np.ndarray]:
     """Returns the joint limits of the robot.
 
     The first element is the lower limit, the second element is the upper limit.
     """
-    limits = common.robots_meta_config(robot.get_parameters().robot_type).joint_limits
+    limits = common.robots_meta_config(robot.get_config().robot_type).joint_limits
     return limits[0], limits[1]
 
 
 def get_home_position(robot: common.Robot) -> np.ndarray:
     """Returns the home position of the robot."""
-    return common.robots_meta_config(robot.get_parameters().robot_type).q_home
+    return common.robots_meta_config(robot.get_config().robot_type).q_home
 
 
 class RobotEnv(gym.Env):