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

Author: juelg

examples/fr3/fr3_direct_control.py

@@ -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())

examples/so101/so101_env_cartesian_control.py

@@ -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()

examples/so101/so101_env_joint_control.py

@@ -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()

examples/ur5e/ur5e_env_cartesian_control.py

@@ -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()

examples/ur5e/ur5e_env_joint_control.py

@@ -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"
 

examples/xarm7/xarm7_env_cartesian_control.py

@@ -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,

examples/xarm7/xarm7_env_joint_control.py

@@ -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,

python/rcs/envs/utils.py

@@ -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
     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