fix(models): rotation of UR5e and style python

juelg · juelg · commit 4ec2b15b3390 · 2025-06-30T12:56:44.000+02:00
diff --git a/assets/ur5e/mjcf/ur5e.xml b/assets/ur5e/mjcf/ur5e.xml
@@ -61,7 +61,7 @@
 
   <worldbody>
     <light name="spotlight" mode="targetbodycom" target="wrist_2_link" pos="0 -1 2"/>
-    <body name="base" quat="0 0 0 1" childclass="ur5e">
+    <body name="base" quat="1 0 0 0" childclass="ur5e">
       <inertial mass="4.0" pos="0 0 0" diaginertia="0.00443333156 0.00443333156 0.0072"/>
       <geom mesh="base_0" material="black" class="visual"/>
       <geom mesh="base_1" material="jointgray" class="visual"/>
diff --git a/examples/fr3_env_cartesian_control.py b/examples/fr3_env_cartesian_control.py
@@ -3,11 +3,7 @@
 from rcs._core.common import RobotPlatform
 from rcs.envs.base import ControlMode, RelativeTo
 from rcs.envs.creators import SimEnvCreator
-from rcs.envs.utils import (
-    default_mujoco_cameraset_cfg,
-    default_sim_gripper_cfg,
-    default_sim_robot_cfg,
-)
+from rcs.envs.utils import default_sim_gripper_cfg, default_sim_robot_cfg
 from rcs_fr3.creators import RCSFR3EnvCreator
 from rcs_fr3.desk import FCI, ContextManager, Desk, load_creds_fr3_desk
 from rcs_fr3.utils import default_fr3_hw_gripper_cfg, default_fr3_hw_robot_cfg
diff --git a/examples/ur5e_env_cartesian_control.py b/examples/ur5e_env_cartesian_control.py
@@ -1,6 +1,5 @@
 import logging
 
-import numpy as np
 from rcs.envs.base import ControlMode, RelativeTo
 from rcs.envs.creators import SimEnvCreator
 
