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style(linting): fix linting in scene dict #266

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Merged
juelg merged 1 commit into from
Mar 18, 2026
Merged

style(linting): fix linting in scene dict #266

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3 changes: 2 additions & 1 deletion examples/fr3/fr3_direct_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,8 @@ def main():
robot: rcs.common.Robot
gripper: rcs.common.Gripper
if ROBOT_INSTANCE == RobotPlatform.SIMULATION:
simulation = sim.Sim(rcs.scenes["fr3_empty_world"].mjb)
scene = rcs.scenes["fr3_empty_world"]
simulation = sim.Sim(scene.mjb or scene.mjcf_scene)
robot_cfg = sim.SimRobotConfig()
robot_cfg.add_id("0")
robot_cfg.tcp_offset = rcs.common.Pose(rcs.common.FrankaHandTCPOffset())
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3 changes: 2 additions & 1 deletion examples/so101/so101_env_cartesian_control.py
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Expand Up @@ -25,7 +25,8 @@ def main():
robot_cfg.robot_type = rcs.common.RobotType.SO101
robot_cfg.attachment_site = "gripper"
robot_cfg.arm_collision_geoms = []
robot_cfg.mjcf_scene_path = rcs.scenes["so101_empty_world"].mjb
scene = rcs.scenes["so101_empty_world"]
robot_cfg.mjcf_scene_path = scene.mjb or scene.mjcf_scene
robot_cfg.kinematic_model_path = rcs.scenes["so101_empty_world"].mjcf_robot

gripper_cfg = sim.SimGripperConfig()
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3 changes: 2 additions & 1 deletion examples/so101/so101_env_joint_control.py
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Expand Up @@ -26,7 +26,8 @@ def main():
robot_cfg.robot_type = rcs.common.RobotType.SO101
robot_cfg.attachment_site = "gripper"
robot_cfg.arm_collision_geoms = []
robot_cfg.mjcf_scene_path = rcs.scenes["so101_empty_world"].mjb
scene = rcs.scenes["so101_empty_world"]
robot_cfg.mjcf_scene_path = scene.mjb or scene.mjcf_scene
robot_cfg.kinematic_model_path = rcs.scenes["so101_empty_world"].mjcf_robot

gripper_cfg = sim.SimGripperConfig()
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3 changes: 2 additions & 1 deletion examples/ur5e/ur5e_env_cartesian_control.py
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Expand Up @@ -44,7 +44,8 @@ def main():
robot_sim_cfg.robot_type = rcs.common.RobotType.UR5e
robot_sim_cfg.attachment_site = "attachment_site"
robot_sim_cfg.arm_collision_geoms = []
robot_sim_cfg.mjcf_scene_path = rcs.scenes["ur5e_empty_world"].mjb
scene = rcs.scenes["ur5e_empty_world"]
robot_sim_cfg.mjcf_scene_path = scene.mjb or scene.mjcf_scene
robot_sim_cfg.kinematic_model_path = rcs.scenes["ur5e_empty_world"].mjcf_robot
robot_sim_cfg.base = "base"
robot_sim_cfg.tcp_offset = rcs.common.Pose()
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3 changes: 2 additions & 1 deletion examples/ur5e/ur5e_env_joint_control.py
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Expand Up @@ -45,7 +45,8 @@ def main():
robot_sim_cfg.robot_type = rcs.common.RobotType.UR5e
robot_sim_cfg.attachment_site = "attachment_site"
robot_sim_cfg.arm_collision_geoms = []
robot_sim_cfg.mjcf_scene_path = rcs.scenes["ur5e_empty_world"].mjb
scene = rcs.scenes["ur5e_empty_world"]
robot_sim_cfg.mjcf_scene_path = scene.mjb or scene.mjcf_scene
robot_sim_cfg.kinematic_model_path = rcs.scenes["ur5e_empty_world"].mjcf_robot
robot_sim_cfg.base = "base"

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3 changes: 2 additions & 1 deletion examples/xarm7/xarm7_env_cartesian_control.py
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Expand Up @@ -60,7 +60,8 @@ def main():
robot_cfg.robot_type = rcs.common.RobotType.XArm7
robot_cfg.attachment_site = "attachment_site"
robot_cfg.arm_collision_geoms = []
robot_cfg.mjcf_scene_path = rcs.scenes["xarm7_empty_world"].mjb
scene = rcs.scenes["xarm7_empty_world"]
robot_cfg.mjcf_scene_path = scene.mjb or scene.mjcf_scene
robot_cfg.kinematic_model_path = rcs.scenes["xarm7_empty_world"].mjcf_robot
env_rel = SimEnvCreator()(
robot_cfg=robot_cfg,
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3 changes: 2 additions & 1 deletion examples/xarm7/xarm7_env_joint_control.py
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,8 @@ def main():
robot_cfg.robot_type = rcs.common.RobotType.XArm7
robot_cfg.attachment_site = "attachment_site"
robot_cfg.arm_collision_geoms = []
robot_cfg.mjcf_scene_path = rcs.scenes["xarm7_empty_world"].mjb
scene = rcs.scenes["xarm7_empty_world"]
robot_cfg.mjcf_scene_path = scene.mjb or scene.mjcf_scene
robot_cfg.kinematic_model_path = rcs.scenes["xarm7_empty_world"].mjcf_robot
env_rel = SimEnvCreator()(
robot_cfg=robot_cfg,
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13 changes: 7 additions & 6 deletions python/rcs/envs/utils.py
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Expand Up @@ -17,15 +17,16 @@

def default_sim_robot_cfg(scene: str = "fr3_empty_world", idx: str = "0") -> sim.SimRobotConfig:
robot_cfg = rcs.sim.SimRobotConfig()
robot_cfg.robot_type = rcs.scenes[scene].robot_type
scene_cfg = rcs.scenes[scene]
robot_cfg.robot_type = scene_cfg.robot_type
robot_cfg.tcp_offset = common.Pose(common.FrankaHandTCPOffset())
robot_cfg.add_id(idx)
if rcs.scenes[scene].mjb is not None:
robot_cfg.mjcf_scene_path = rcs.scenes[scene].mjb
if scene_cfg.mjb is not None:
robot_cfg.mjcf_scene_path = scene_cfg.mjb
else:
robot_cfg.mjcf_scene_path = rcs.scenes[scene].mjcf_scene
robot_cfg.kinematic_model_path = rcs.scenes[scene].mjcf_robot
# robot_cfg.kinematic_model_path = rcs.scenes[scene].urdf
robot_cfg.mjcf_scene_path = scene_cfg.mjcf_scene
robot_cfg.kinematic_model_path = scene_cfg.mjcf_robot
# robot_cfg.kinematic_model_path = scene_cfg.urdf
return robot_cfg


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