Fix: more precise grasp in grasp_demo.py

Author: pkrack

examples/fr3/grasp_demo.py

@@ -61,10 +61,11 @@ def approach(self, geom_name: str):
 
     def grasp(self, geom_name: str):
 
-        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.01, num_waypoints=60)
+        waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=-0.005, num_waypoints=60)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_OPEN)
 
-        self.step(self._action(Pose(), GripperWrapper.BINARY_GRIPPER_CLOSED))
+        for _ in range(4):
+            self.step(self._action(self.unwrapped.robot.get_cartesian_position(), GripperWrapper.BINARY_GRIPPER_CLOSED))
 
         waypoints = self.plan_linear_motion(geom_name=geom_name, delta_up=0.2, num_waypoints=60)
         self.execute_motion(waypoints=waypoints, gripper=GripperWrapper.BINARY_GRIPPER_CLOSED)

python/rcs/envs/base.py

@@ -629,9 +629,9 @@ def __init__(self, env, camera_set: BaseCameraSet, include_depth: bool = False):
         )
         self.camera_key = get_space_keys(CameraDictType)[0]
 
-    def reset(self, seed: int | None = None, options: dict[str, Any] | None = None) -> tuple[dict, dict[str, Any]]:
+    def reset(self, **kwargs) -> tuple[dict, dict[str, Any]]:
         self.camera_set.clear_buffer()
-        return super().reset(seed=seed, options=options)
+        return super().reset(**kwargs)
 
     def observation(self, observation: dict, info: dict[str, Any]) -> tuple[dict[str, Any], dict[str, Any]]:
         observation = copy.deepcopy(observation)