reorg: fold wato_hand/ into pioneer_humanoid/ (Humanoid_Wato part 2)

src/pioneer_humanoid/pioneer_humanoid/hand.py

@@ -1,22 +1,11 @@
 import math
-import os
-import sys
 
 import isaaclab.sim as sim_utils
 from isaaclab.assets.articulation import ArticulationCfg
 
-# Robot meshes/USD still live under src/simulation/Humanoid_Wato/ (asset
-# consolidation is a separate step).
-_HUMANOID_WATO_ROOT = os.path.abspath(
-    os.path.join(os.path.dirname(__file__), "..", "..", "simulation", "Humanoid_Wato")
-)
-_HAND_ASSET_DIR = os.path.join(_HUMANOID_WATO_ROOT, "wato_hand")
-if _HAND_ASSET_DIR not in sys.path:
-    sys.path.insert(0, _HAND_ASSET_DIR)
-
-from wato_hand_cfg import (  # noqa: E402
+from .hand_cfg import (
+    HAND_CFG,
     JOINT_POS_LIMITS,
-    WATO_HAND_CFG,
     apply_joint_limits,
 )
 
@@ -74,8 +63,8 @@ def _quat_y_deg(deg: float) -> tuple[float, float, float, float]:
 for _mcp_a in ("MCP_A_1", "MCP_A_2", "MCP_A_3", "MCP_A_4"):
     _INHAND_INIT_JOINT_POS[_mcp_a] = min(_INHAND_SPREAD_RAD, _USD_MCP_A_MAX)
 
-INHAND_HAND_CFG = WATO_HAND_CFG.replace(
-    spawn=WATO_HAND_CFG.spawn.replace(
+INHAND_HAND_CFG = HAND_CFG.replace(
+    spawn=HAND_CFG.spawn.replace(
         rigid_props=sim_utils.RigidBodyPropertiesCfg(
             disable_gravity=True,
             retain_accelerations=False,

src/simulation/Humanoid_Wato/wato_hand/wato_hand_cfg.py → src/pioneer_humanoid/pioneer_humanoid/hand_cfg.py

@@ -1,14 +1,14 @@
-"""20-DOF Wato hand articulation config."""
+"""20-DOF pioneer hand articulation config."""
 import math
 import os
 
 import isaaclab.sim as sim_utils
 from isaaclab.actuators import ImplicitActuatorCfg
 from isaaclab.assets.articulation import ArticulationCfg
 
-_THIS_DIR = os.path.abspath(os.path.dirname(__file__))
-_HAND_USD_PATH = os.path.join(_THIS_DIR, "urdf", "hand_urdf", "hand_urdf.usd")
-_HAND_URDF_PATH = os.path.join(_THIS_DIR, "urdf", "hand_urdf.urdf")
+_ASSET_DIR = os.path.join(os.path.dirname(__file__), "..", "assets", "hand")
+_HAND_USD_PATH = os.path.join(_ASSET_DIR, "urdf", "hand_urdf", "hand_urdf.usd")
+_HAND_URDF_PATH = os.path.join(_ASSET_DIR, "urdf", "hand_urdf.urdf")
 
 
 def _deg(degrees: float) -> float:
@@ -105,7 +105,7 @@ def apply_joint_limits(robot) -> None:
         print(f"[INFO] Applied joint limits for {len(updated)} joints.")
 
 
-WATO_HAND_CFG = ArticulationCfg(
+HAND_CFG = ArticulationCfg(
     spawn=sim_utils.UsdFileCfg(
         usd_path=_HAND_USD_PATH,
         rigid_props=sim_utils.RigidBodyPropertiesCfg(

src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/TRAINING_LOG.md

@@ -65,7 +65,7 @@
 ### 7. Instanceable USD + scaling to 1024 envs (WORKS)
 `replicate_physics = True` was already set. The existing `hand_urdf.usd` has no companion `_meshes.usd` but runs at 1024 envs without OOM — effectively sufficient.
 
-**To make fully instanceable (not yet done):** Isaac Sim GUI → URDF Importer → "Create Instanceable Asset" → produces `hand_urdf.usd` + `instanceable_meshes.usd`. Update `_HAND_USD_PATH` in `wato_hand_cfg.py`.
+**To make fully instanceable (not yet done):** Isaac Sim GUI → URDF Importer → "Create Instanceable Asset" → produces `hand_urdf.usd` + `instanceable_meshes.usd`. Update `_HAND_USD_PATH` in `pioneer_humanoid/hand_cfg.py`.
 
 **Throughput:**
 - 256 envs: ~11k steps/s

src/simulation/humanoid_rl_tasks/humanoid_rl_tasks/inhand/mdp/events.py

@@ -170,7 +170,7 @@ def apply_wato_hand_joint_limits(
     env_ids: torch.Tensor,
     asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"),
 ) -> None:
-    """Push expanded JOINT_POS_LIMITS from wato_hand_cfg into PhysX at startup.
+    """Push expanded JOINT_POS_LIMITS from pioneer_humanoid.hand_cfg into PhysX at startup.
 
     The USD has the original hardware limits baked in (±8.6 deg for MCP_A).
     This overwrites them so the RL policy can explore a larger abduction range.