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wilsonchenghy merged 1 commit into from
Sep 2, 2026
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docs: expand README repo map (sim RL vs scenes, assets) #271

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28 changes: 21 additions & 7 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -39,19 +39,33 @@ humanoid
│ ├── common_msgs/ # Shared ROS 2 message definitions
│ ├── interfacing/ # CAN ⇄ ROS 2 bridge, DBC, joint_command (ArmPose → per-motor CAN); real-arm bring-up
│ ├── perception/ # Perception nodes + voxel_grid (depth → occupancy grid)
│ ├── pioneer_humanoid/ # THE arm/robot definition — articulation, joint limits, IK helpers, cameras (imported everywhere)
│ ├── simulation/ # Isaac Lab: RL tasks, teleop scenes, training runners, datagen — see src/simulation/README.md
│ ├── teleop/ # Drive the arm (sim or real): keyboard, Quest WebXR, task-space IK
│ ├── pioneer_humanoid/ # THE robot definition — arm/hand/whole-body articulation, joint limits, IK, cameras (imported everywhere)
│ ├── simulation/ # Isaac Lab sim & learning — see src/simulation/README.md
│ │ ├── humanoid_rl/ # RL runners: train / play / distill / diagnose ($RL_RUNNERS)
│ │ ├── humanoid_rl_tasks/ # RL tasks, flat — inhand, locomotion, push_block, pick_place
│ │ ├── humanoid_scenes/ # teleop data-collection scenes (@scene-discovered) — bare, vial_rack, push_block
│ │ ├── pick_place_gen/ # Isaac Lab Mimic datagen wrappers
│ │ └── so101_vial_task/ # SO101 imitation-learning task
│ ├── teleop/ # Drive the arm (sim or real): keyboard, Quest WebXR, task-space IK — resolve --scene via humanoid_scenes
│ ├── il/ # Imitation-learning dataset recording (LeRobot)
│ └── embedded/ # STM32 / ESP32S3 motor-controller firmware
├── assets/ # robot URDF/USD/meshes + scene props (backend-neutral); lerobot/ = SO101
├── assets/ # robot URDF/USD/meshes + scene props (backend-neutral, not tied to Isaac)
│ ├── pioneer_bimanual_arm/ pioneer_hand/ whole_body_humanoid/
│ ├── props/ # block.usd, box.usd, table.usd
│ └── lerobot/ # SO101 arm + vial-task USDs + HDRIs (external-synced)
├── outputs/ # training runs / checkpoints (gitignored) — rl/ , train/
└── docs/ # Pointer to the humanoid-docs site
```

Deeper structure and "where does new work go" live in each area's own `README.md`
(notably [src/simulation/README.md](src/simulation/README.md) for the RL-task vs
teleop-scene split).
**RL task vs teleop scene** — the split a contributor needs first:

| adding… | goes in | how it registers |
|---|---|---|
| an RL task (has a reward, gets PPO-trained) | `src/simulation/humanoid_rl_tasks/<task>/` | auto (`import_packages`) |
| a teleop-only scene (collect demos, no reward) | `src/simulation/humanoid_scenes/<name>/scene.py` + `@scene("<name>")` | auto (discovery) |
| a scene that is **both** (e.g. `push_block`) | task owns the geometry in its `scene.py`; add a 1-line shim in `humanoid_scenes/` | both |

Full detail — [src/simulation/README.md](src/simulation/README.md). Other areas: each has its own `README.md`.

## Simulation

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