Update UR5 home pose for Nova integration in environment and scene files

- Modified the home position values in `ur5_env.py`, `scene_t_push.xml`, and `scene_with_gripper.xml` to reflect a custom configuration for improved integration with Nova.
- Adjusted joint angles to enhance the robot's initial state, ensuring better performance during simulations.

robots/ur5/model/scene_t_push.xml

@@ -222,7 +222,7 @@
 
   <keyframe>
     <!-- UR5e home pose (6 joints) + t_object freejoint (3 pos + 4 quat) -->
-    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0.45 0.2 0.43 1 0 0 0"
-         ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0"/>
+    <key name="home" qpos="-3.22 -1.14 1.93 -2.36 -1.57 -1.72 0.45 0.2 0.43 1 0 0 0"
+         ctrl="-3.22 -1.14 1.93 -2.36 -1.57 -1.72"/>
   </keyframe>
 </mujoco>

robots/ur5/model/scene_with_gripper.xml

@@ -186,7 +186,7 @@
 
   <keyframe>
     <!-- Official MuJoCo Menagerie UR5e home pose with gripper open (0=open) -->
-    <key name="home" qpos="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0 0 0 0 0 0 0 0 0.5 0.2 0.45 1 0 0 0"
-         ctrl="-1.5708 -1.5708 1.5708 -1.5708 -1.5708 0 0"/>
+    <key name="home" qpos="-3.22 -1.14 1.93 -2.36 -1.57 -1.72 0 0 0 0 0 0 0 0 0.5 0.2 0.45 1 0 0 0"
+         ctrl="-3.22 -1.14 1.93 -2.36 -1.57 -1.72 0"/>
   </keyframe>
 </mujoco>

robots/ur5/ur5_env.py

@@ -55,15 +55,14 @@ class UR5Env(gym.Env):
         "wrist_3_joint",
     ]
 
-    # Home position - official MuJoCo Menagerie UR5e configuration
-    # Classic "elbow up" manipulation pose from Universal Robots
+    # Home position - Custom configuration for Nova integration
     DEFAULT_HOME_POSE = np.array([
-        -1.5708,  # shoulder_pan - rotated -90°
-        -1.5708,  # shoulder_lift - rotated -90°
-        1.5708,   # elbow - rotated +90°
-        -1.5708,  # wrist_1 - rotated -90°
-        -1.5708,  # wrist_2 - rotated -90°
-        0.0,      # wrist_3 - no rotation
+        -3.22,  # shoulder_pan
+        -1.14,  # shoulder_lift
+        1.93,   # elbow
+        -2.36,  # wrist_1
+        -1.57,  # wrist_2
+        -1.72,  # wrist_3
     ], dtype=np.float32)
 
     def __init__(