Merge branch 'master' into juelg/gravcomp-fix

Author: juelg

.github/workflows/ci.yaml

@@ -42,6 +42,28 @@ jobs:
       - name: Ensure all unittests(pytest) are passing
         run: xvfb-run make pytest
 
+  pythonpackage-macos:
+    runs-on: macos-14
+    env:
+      GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python 3.11
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+          cache: "pip"
+      - name: upgrade pip
+        run: pip install --upgrade pip
+      - name: Install building dependencies
+        run: python -m pip install --group build_deps
+      - name: Install wheel
+        run: python -m pip install wheel
+      - name: Build and install rcs-core
+        run: python -m pip install -ve . --no-build-isolation
+      - name: Import smoke test
+        run: python -c "import rcs; from rcs import _core; import rcs.sim.sim; print('rcs-core import OK on macOS')"
+
   check-paths:
     runs-on: ubuntu-latest
     outputs:

README.md

@@ -122,6 +122,7 @@ if __name__ == "__main__":
 > **Note:** This and other examples can be found in the [`examples/`]() folder.
 
 ## 🛠️ Installation
+* *Platform support: The core package `rcs-core` (MuJoCo simulation + Python API) is supported on **Linux and macOS** (Apple Silicon / arm64). The hardware extensions are **Linux only**.*
 * *For Python >3.11: The `rcs_realsense` extension won't work due to the `pyrealsense2` version RCS utilizes.*
 * *For Python >3.12: The `ompl` python module is currently not available on PyPI. If OMPL is not used, it is safe to remove this dependency in `pyproject.toml`.*
 ### Via PyPI/pip
@@ -170,6 +171,8 @@ export RCS_PREFIX=/path/to/rcs-assets
 
 RCS supports various hardware extensions to seamlessly connect your policies to the real world (e.g., FR3, xArm7, YAM, RealSense). These are located in the `extensions` directory.
 
+> **Note:** Hardware extensions are supported on **Linux only**. On macOS you can use the core `rcs-core` package for simulation, but the hardware extensions are not supported.
+
 To install a specific robot extension (example for Franka FR3):
 
 ```shell

cmake/FindMuJoCo.cmake

@@ -38,18 +38,35 @@ if (NOT MuJoCo_FOUND)
         return()
     endif()
 
-    file(GLOB mujoco_library_path "${MUJOCO_PATH}/libmujoco.so.*")
-    if (NOT mujoco_library_path)
+    set(_mujoco_library_globs)
+    if (APPLE)
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/libmujoco.*.dylib")
+    elseif (WIN32)
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/mujoco.dll")
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/bin/mujoco.dll")
+    else()
+        list(APPEND _mujoco_library_globs "${MUJOCO_PATH}/libmujoco.so.*")
+    endif()
+
+    file(GLOB mujoco_library_paths LIST_DIRECTORIES FALSE ${_mujoco_library_globs})
+    list(LENGTH mujoco_library_paths _mujoco_library_count)
+    if (_mujoco_library_count EQUAL 0)
         set(MuJoCo_FOUND FALSE)
         if (MuJoCo_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find MuJoCo. Please install MuJoCo using pip 4.")
+            message(FATAL_ERROR "Could not find MuJoCo shared library. Searched: ${_mujoco_library_globs}")
         endif()
         return()
     endif()
+    list(GET mujoco_library_paths 0 mujoco_library_path)
 
     # Extract version from the library filename
     cmake_path(GET mujoco_library_path FILENAME mujoco_library_filename)
-    string(REPLACE "libmujoco.so." "" MuJoCo_VERSION "${mujoco_library_filename}")
+    set(MuJoCo_VERSION "")
+    if (mujoco_library_filename MATCHES "^libmujoco\\.so\\.(.+)$")
+        set(MuJoCo_VERSION "${CMAKE_MATCH_1}")
+    elseif (mujoco_library_filename MATCHES "^libmujoco\\.(.+)\\.dylib$")
+        set(MuJoCo_VERSION "${CMAKE_MATCH_1}")
+    endif()
 
     # Create the imported target
     add_library(MuJoCo::MuJoCo SHARED IMPORTED)
@@ -59,6 +76,9 @@ if (NOT MuJoCo_FOUND)
         PROPERTIES
         IMPORTED_LOCATION "${mujoco_library_path}"
     )
+    if (APPLE)
+        set_target_properties(MuJoCo::MuJoCo PROPERTIES IMPORTED_NO_SONAME TRUE)
+    endif()
 
     set(MuJoCo_FOUND TRUE)
 endif()

cmake/Findpinocchio.cmake

@@ -17,25 +17,44 @@ if (NOT pinocchio_FOUND)
         return()
     endif()
 
-    # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio_default.so OUTPUT_VARIABLE pinocchio_library_path)
-    if (NOT EXISTS ${pinocchio_library_path})
+    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib OUTPUT_VARIABLE pinocchio_LIBRARY_DIR)
+
+    set(_pinocchio_default_globs)
+    set(_pinocchio_parsers_globs)
+    if (APPLE)
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_default*.dylib")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_parsers*.dylib")
+    elseif (WIN32)
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/pinocchio_default*.dll")
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_default*.dll")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/pinocchio_parsers*.dll")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_parsers*.dll")
+    else()
+        list(APPEND _pinocchio_default_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_default.so*")
+        list(APPEND _pinocchio_parsers_globs "${pinocchio_LIBRARY_DIR}/libpinocchio_parsers.so*")
+    endif()
+
+    file(GLOB pinocchio_library_paths LIST_DIRECTORIES FALSE ${_pinocchio_default_globs})
+    list(LENGTH pinocchio_library_paths _pinocchio_library_count)
+    if (_pinocchio_library_count EQUAL 0)
         set(pinocchio_FOUND FALSE)
         if (pinocchio_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find pinocchio. Please install pinocchio using pip.")
+            message(FATAL_ERROR "Could not find pinocchio library. Searched: ${_pinocchio_default_globs}")
         endif()
         return()
     endif()
+    list(GET pinocchio_library_paths 0 pinocchio_library_path)
 
-    # Check if the library file exists
-    cmake_path(APPEND Python3_SITELIB cmeel.prefix lib libpinocchio_parsers.so OUTPUT_VARIABLE pinocchio_parsers_path)
-    if (NOT EXISTS ${pinocchio_parsers_path})
+    file(GLOB pinocchio_parsers_paths LIST_DIRECTORIES FALSE ${_pinocchio_parsers_globs})
+    list(LENGTH pinocchio_parsers_paths _pinocchio_parsers_count)
+    if (_pinocchio_parsers_count EQUAL 0)
         set(pinocchio_FOUND FALSE)
         if (pinocchio_FIND_REQUIRED)
-            message(FATAL_ERROR "Could not find pinocchio parsers path. Please install pinocchio using pip.")
+            message(FATAL_ERROR "Could not find pinocchio parsers library. Searched: ${_pinocchio_parsers_globs}")
         endif()
         return()
     endif()
+    list(GET pinocchio_parsers_paths 0 pinocchio_parsers_path)
 
     # Extract version from the library filename
     file(GLOB pinocchio_dist_info "${Python3_SITELIB}/pin-*.dist-info")

docs/extensions/overview.md

@@ -2,6 +2,12 @@
 
 RCS is designed to be modular. Core functionality is kept minimal, while specific hardware support and additional features are provided through **extensions**.
 
+```{note}
+Extensions are supported on **Linux only**. The core `rcs-core` package (MuJoCo
+simulation + Python API) also runs on macOS (Apple Silicon / arm64), but the
+hardware extensions are not supported there.
+```
+
 ## What is an Extension?
 
 An extension is a separate Python package that integrates with RCS. Extensions can provide:

docs/getting_started/index.md

@@ -4,6 +4,12 @@
 
 We build and test RCS on the latest Debian and on the latest Ubuntu LTS.
 
+```{note}
+**Platform support:** The core package `rcs-core` (MuJoCo simulation + Python API)
+is supported on **Linux and macOS** (Apple Silicon / arm64). The hardware
+extensions are **Linux only**.
+```
+
 ### Prerequisites
 
 1.  Install the system dependencies:

examples/inference/franka.py

@@ -15,7 +15,6 @@
 from rcs.envs.base import ControlMode, RelativeTo
 from rcs.envs.configs import EmptyWorldFR3Duo
 from rcs.envs.storage_wrapper import StorageWrapper
-from rcs.utils import SimpleFrameRate
 
 # from rcs_duobench.tasks.bin_sort import BinSortEnvConfig
 from vlagents.client import RemoteAgent
@@ -133,7 +132,6 @@ def __init__(self, env: gym.Env, cfg: InferenceConfig):
             cfg.jpeg_encoding,
             cfg.image_size,
         )
-        self.frame_rate = SimpleFrameRate(self._cfg.fps)
         self._action_buffer = []
 
     def submit_command(self, command: str) -> None:
@@ -298,9 +296,6 @@ def loop(self):
 
             obs_dict = self.obs_rcs2agents(obs)
 
-            if ROBOT_INSTANCE == RobotPlatform.HARDWARE:
-                self.frame_rate()
-
 
 def command_loop(controller: ModelInference) -> None:
     prompt = "Command [e=start, r=record, s=success/reset, q=stop/reset, o=reload, x=exit]: "
@@ -393,6 +388,7 @@ def get_env(cfg: InferenceConfig) -> gym.Env:
         # interpolation window of the controllers must match the rate at which we stream actions
         hw_cfg.robot_cfgs["left"].policy_rate = cfg.fps
         hw_cfg.robot_cfgs["right"].policy_rate = cfg.fps
+        hw_cfg.frequency = cfg.fps
         hw_cfg.gripper_cfgs["left"].serial_number = ROBOTIQ_SERIAL["left"]
         hw_cfg.gripper_cfgs["right"].serial_number = ROBOTIQ_SERIAL["right"]
         env_rel = env_creator.create_env(hw_cfg)

examples/teleop/franka.py

@@ -159,6 +159,7 @@ def get_env():
         # interpolation window of the controllers must match the rate at which we stream actions
         hw_cfg.robot_cfgs["left"].policy_rate = RECORD_FPS
         hw_cfg.robot_cfgs["right"].policy_rate = RECORD_FPS
+        hw_cfg.frequency = RECORD_FPS
         hw_cfg.gripper_cfgs["left"].serial_number = ROBOTIQ_SERIAL["left"]  # type: ignore
         hw_cfg.gripper_cfgs["right"].serial_number = ROBOTIQ_SERIAL["right"]  # type: ignore
         env_rel = env_creator.create_env(hw_cfg)

extensions/rcs_fr3/src/rcs_fr3/creators.py

@@ -161,6 +161,8 @@ class FR3HardwareEnvCreatorConfig:
     camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None = None
     max_relative_movement: float | tuple[float, float] | None = None
     relative_to: RelativeTo = RelativeTo.LAST_STEP
+    frequency: float | None = None
+    """Control frequency in Hz, rate limits env.step(). None disables rate limiting."""
     wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig)
 
 
@@ -173,6 +175,8 @@ class FR3MultiHardwareEnvCreatorConfig:
     max_relative_movement: float | tuple[float, float] | None = None
     relative_to: RelativeTo = RelativeTo.LAST_STEP
     robot_to_shared_base_frame: dict[str, rcs.common.Pose] | None = None
+    frequency: float | None = None
+    """Control frequency in Hz, rate limits env.step(). None disables rate limiting."""
     wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig)
 
 
@@ -185,7 +189,7 @@ def create_env(self, cfg: FR3HardwareEnvCreatorConfig) -> gym.Env:
         )
         robot = hw.Franka(cfg.robot_cfg, ik)
 
-        env: gym.Env = HardwareEnv()
+        env: gym.Env = HardwareEnv(frequency=cfg.frequency)
         env = RobotWrapper(env, robot, cfg.control_mode, home_on_reset=cfg.wrapper_cfg.home_on_reset)
         env = FR3HW(env)
         if isinstance(cfg.gripper_cfg, rcs.hand.tilburg_hand.THConfig):
@@ -229,6 +233,7 @@ def create_env(self, cfg: FR3MultiHardwareEnvCreatorConfig) -> gym.Env:
                     camera_cfgs=None,
                     max_relative_movement=cfg.max_relative_movement,
                     relative_to=cfg.relative_to,
+                    frequency=cfg.frequency,
                     wrapper_cfg=cfg.wrapper_cfg,
                 )
             )

extensions/rcs_panda/src/rcs_panda/creators.py

@@ -119,6 +119,8 @@ class PandaHardwareEnvCreatorConfig:
     camera_cfgs: dict[str, HardwareCameraCreatorConfig] | None = None
     max_relative_movement: float | tuple[float, float] | None = None
     relative_to: RelativeTo = RelativeTo.LAST_STEP
+    frequency: float | None = None
+    """Control frequency in Hz, rate limits env.step(). None disables rate limiting."""
     wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig)
 
 
@@ -131,6 +133,8 @@ class PandaMultiHardwareEnvCreatorConfig:
     max_relative_movement: float | tuple[float, float] | None = None
     relative_to: RelativeTo = RelativeTo.LAST_STEP
     robot_to_shared_base_frame: dict[str, rcs.common.Pose] | None = None
+    frequency: float | None = None
+    """Control frequency in Hz, rate limits env.step(). None disables rate limiting."""
     wrapper_cfg: WrapperConfig = field(default_factory=WrapperConfig)
 
 
@@ -143,7 +147,7 @@ def create_env(self, cfg: PandaHardwareEnvCreatorConfig) -> gym.Env:
         )
         robot = hw.Franka(cfg.robot_cfg, ik)
 
-        env: gym.Env = HardwareEnv()
+        env: gym.Env = HardwareEnv(frequency=cfg.frequency)
         env = RobotWrapper(env, robot, cfg.control_mode, home_on_reset=cfg.wrapper_cfg.home_on_reset)
         env = PandaHW(env)
         if isinstance(cfg.gripper_cfg, rcs.hand.tilburg_hand.THConfig):
@@ -185,6 +189,7 @@ def create_env(self, cfg: PandaMultiHardwareEnvCreatorConfig) -> gym.Env:
                     camera_cfgs=None,
                     max_relative_movement=cfg.max_relative_movement,
                     relative_to=cfg.relative_to,
+                    frequency=cfg.frequency,
                     wrapper_cfg=cfg.wrapper_cfg,
                 )
             )