reorg: shared USDs → src/simulation/assets/; drop dead arm dirs (Humanoid_Wato part 1) - #267
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…n arm dir
- UsdModelAssets/{block,box}.usd + Table/table.usd -> src/simulation/assets/
(consumers: push_block scene, quest_isaac_teleop)
- pioneer_badminton_arm/ + empty arm_assembly/ deleted — zero references
(badminton is mjlab now, #179)
pioneer_boxing_arm/ kept for now — pending confirmation it's unused by Ramy's
AMP / motion-prior work.
Part 1 of dissolving src/simulation/Humanoid_Wato/. wato_hand/ and the V1
humanoid model fold into pioneer_humanoid/ next.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01EtusD8QWFBLpdMUZPpye5B
This was referenced Sep 2, 2026
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Part 1 of dissolving
src/simulation/Humanoid_Wato/(the last "wato"-named holdout).Moves
Humanoid_Wato/UsdModelAssets/block.usd→src/simulation/assets/block.usdHumanoid_Wato/UsdModelAssets/box.usd→src/simulation/assets/box.usdHumanoid_Wato/Table/table.usd→src/simulation/assets/table.usdConsumers updated:
humanoid_rl_tasks/push_block/scene.py,src/teleop/quest_isaac_teleop/run_quest_bimanual_teleop.py.Deletes (zero references anywhere — main or any branch)
Humanoid_Wato/pioneer_badminton_arm/— badminton is mjlab now (feat(simulation): add badminton rl environment #179)Humanoid_Wato/arm_assembly/— emptypioneer_boxing_arm/is kept pending a check that it's unused by Ramy's AMP / motion-prior work.Verification
rl-train --task=Isaac-Bimanual-Push-Block-v0 --headless --max_iterations 1→ EXIT 0, scene loads block + box + table from the newassets/path, reachesLearning iteration 0/1.Next
wato_hand/→pioneer_humanoid/(cfg into the package, meshes topioneer_humanoid/assets/hand/, kill the sys.path hack)Wato Humanoid Simultion Model V1/→assets/pioneer_humanoid_v1/+ relocate RL checkpoints tooutputs/rl/;Humanoid_Wato/deleted