reorg: fold wato_hand/ into pioneer_humanoid/ (Humanoid_Wato part 2) - #268
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- Humanoid_Wato/wato_hand/wato_hand_cfg.py -> pioneer_humanoid/pioneer_humanoid/hand_cfg.py
(symbol WATO_HAND_CFG -> HAND_CFG)
- Humanoid_Wato/wato_hand/{urdf,meshes,config} -> pioneer_humanoid/assets/hand/
- hand.py drops the sys.path hack -> `from .hand_cfg import ...`
- dead ROS/gazebo scaffolding (CMakeLists, package.xml, launch/, export.log) removed
- splay_demo.py removed — unreferenced one-off demo (in git history if needed)
Humanoid_Wato/ now down to the V1 humanoid model + Ramy's boxing arm.
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 2 of dissolving
src/simulation/Humanoid_Wato/. Follows #267.Moves / renames
Humanoid_Wato/wato_hand/wato_hand_cfg.pypioneer_humanoid/pioneer_humanoid/hand_cfg.pyWATO_HAND_CFGHAND_CFGHumanoid_Wato/wato_hand/{urdf,meshes,config}/pioneer_humanoid/assets/hand/Removed
hand.py'ssys.pathhack →from .hand_cfg import HAND_CFG, JOINT_POS_LIMITS, apply_joint_limitsCMakeLists.txt,package.xml,launch/,export.log)splay_demo.py— unreferenced one-off finger-splay demo (recoverable from git history)Verification
rl-train --task=Isaac-Repose-Cube-WatoHand-v0 --headless --max_iterations 1→ EXIT 0, hand USD loads frompioneer_humanoid/assets/hand/, reachesLearning iteration 0/1.Left in Humanoid_Wato/
Wato Humanoid Simultion Model V1/(locomotion robot) +pioneer_boxing_arm/(Ramy's, saved in a branch). Both handled in part 3, after whichHumanoid_Wato/is deleted.Note: the
inhandtask still has an internalconfig/wato_hand/dir +Isaac-Repose-Cube-WatoHand-v0gym id — a separate rename (touches gym IDs), not in this PR.