reorg: V1 humanoid → assets/whole_body_humanoid/; RL checkpoints → outputs/rl/; delete Humanoid_Wato/ - #269
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…ts -> outputs/rl/; delete Humanoid_Wato/
Part 3 (final) of dissolving src/simulation/Humanoid_Wato/.
Asset move / rename:
- "Wato Humanoid Simultion Model V1/urdf/Wato_Humanoid_V1_isaac{.urdf,_usd/}"
-> src/simulation/assets/whole_body_humanoid/{whole_body_humanoid.urdf, usd/}
- top USD Wato_Humanoid_V1.usd -> whole_body_humanoid.usd
- meshes/ -> assets/whole_body_humanoid/meshes/
- raw SolidWorks export (space-named files) + dead ROS scaffolding: deleted
- pioneer_boxing_arm/ deleted (preserved in Ramy's branch)
- Humanoid_Wato/ is gone
RL checkpoints:
- train.py / play.py / distill_push.py log_root -> $HUMANOID_ROOT/outputs/rl/<experiment>/
(was cwd-relative logs/rsl_rl/ inside the humanoid_rl package)
- rl-train / rl-play aliases cd $HUMANOID_ROOT; $RL_ROOT dropped (RL_RUNNERS stays)
- entrypoint chown, compose env, .gitignore, task .md paths follow
whole_body.py sys.path block -> ../../simulation/assets/whole_body_humanoid.
Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01EtusD8QWFBLpdMUZPpye5B
This was referenced Sep 2, 2026
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Part 3 (final) of dissolving
src/simulation/Humanoid_Wato/. Follows #267, #268.Humanoid_Wato/is gone after this.Asset move / rename
Wato Humanoid Simultion Model V1/urdf/Wato_Humanoid_V1_isaac.urdfsrc/simulation/assets/whole_body_humanoid/whole_body_humanoid.urdf.../urdf/Wato_Humanoid_V1_isaac_usd/src/simulation/assets/whole_body_humanoid/usd/Wato_Humanoid_V1.usdwhole_body_humanoid.usd(innerconfiguration/*.usduntouched).../meshes/src/simulation/assets/whole_body_humanoid/meshes/Named to match the
whole_body.pymodule /WHOLE_BODY_HUMANOID_CFGsymbol (only consumer — locomotion).Deleted
Wato Humanoid Simultion Model V1.*files) — superseded by the_isaacconversionpioneer_boxing_arm/— confirmed with Ramy, preserved in his branchHumanoid_Wato/itselfRL checkpoints →
outputs/rl/train.py/play.py/distill_push.py:log_root→$HUMANOID_ROOT/outputs/rl//(was cwd-relativelogs/rsl_rl/inside the package)rl-train/rl-playaliasescd $HUMANOID_ROOT;$RL_ROOTdropped ($RL_RUNNERSstays).gitignore, task.mdpaths followVerification (all 4 tasks,
--max_iterations 1, EXIT 0)Isaac-Locomotion-Flat-WatoHumanoid-v0→ loadswhole_body_humanoid.usdfrom new path; checkpoint →outputs/rl/wato_humanoid_flat/Isaac-Bimanual-Push-Block-v0,Isaac-Repose-Cube-WatoHand-v0→ no regression; checkpoints →outputs/rl/{push_bimanual,wato_hand_cube}/Not in this PR
The locomotion task's internal
config/wato_humanoid_v1/dir +WatoHumanoid*classes +Isaac-Locomotion-Flat-WatoHumanoid-v0gym id, and inhand'sconfig/wato_hand/+Isaac-Repose-Cube-WatoHand-v0— renaming those touches gym IDs, separate follow-up.