reorg: all robot/prop assets → repo-root assets/ (backend-neutral) - #270
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URDF/USD/meshes are robot description consumed by any sim backend; keeping them
under src/pioneer_humanoid/ (an Isaac Lab package) or src/simulation/ couples
them to one backend. Move to the repo root, alongside the existing assets/lerobot/.
- src/pioneer_humanoid/assets/pioneer_bimanual_arm/ -> assets/pioneer_bimanual_arm/
- src/pioneer_humanoid/assets/hand/ -> assets/pioneer_hand/
- src/simulation/assets/whole_body_humanoid/ -> assets/whole_body_humanoid/
- src/simulation/assets/{block,box,table}.usd -> assets/props/
- urdf_joint_limits.py (was living in the arm asset dir, imported via sys.path
hack) -> into the pioneer_humanoid package proper; hack removed
- config path updates: bimanual_arm.py, hand_cfg.py, whole_body.py,
push_block/scene.py, quest_isaac_teleop; usd/config.yaml abs paths
- new assets/README.md; repo maps updated
src/pioneer_humanoid/assets/ and src/simulation/assets/ are both gone — src/ is
pure Python now. Task-local assets (push-block DR textures) stay with their task.
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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Robot descriptions (URDF/USD/meshes) are consumed by any sim backend. Keeping them under
src/pioneer_humanoid/(an Isaac Lab package) orsrc/simulation/couples them to one backend — mjlab / other code can't reach a mesh path without importing Isaac. Move to the repo root, next to the existingassets/lerobot/.Moves
src/pioneer_humanoid/assets/pioneer_bimanual_arm/assets/pioneer_bimanual_arm/src/pioneer_humanoid/assets/hand/assets/pioneer_hand/src/simulation/assets/whole_body_humanoid/assets/whole_body_humanoid/src/simulation/assets/{block,box,table}.usdassets/props/urdf_joint_limits.py(was in the arm asset dir, imported viasys.pathhack)pioneer_humanoidpackage; hack removedsrc/pioneer_humanoid/assets/andsrc/simulation/assets/are both gone —src/is pure Python now. Task-local assets (push-block DR textures) stay with their task.Config updates
bimanual_arm.py,hand_cfg.py,whole_body.py,push_block/scene.py,quest_isaac_teleop;usd/config.yamlabs paths. Newassets/README.md; repo maps inREADME.md+src/simulation/README.md(also drops the staleHumanoid_Wato/line #269 missed).Verification (isaac container,
--max_iterations 1, EXIT 0)Isaac-Bimanual-Push-Block-v0(props + arm),Isaac-Repose-Cube-WatoHand-v0(hand),Isaac-Locomotion-Flat-WatoHumanoid-v0(whole_body) — all trainpick_placesmoke builds the envlist_scenes()→[bare, push, vial_rack];bare+pushscene cfgs build with the arm plugged in