PR 3/10: URDF assets for new PyBullet environments#6
Merged
yichao-liang merged 3 commits intopr/02-pybullet-infrafrom Mar 25, 2026
Merged
PR 3/10: URDF assets for new PyBullet environments#6yichao-liang merged 3 commits intopr/02-pybullet-infrafrom
yichao-liang merged 3 commits intopr/02-pybullet-infrafrom
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Add 161 URDF models, meshes, and textures for boil, circuit, coffee, domino, fan, float, grow, laser, and switch environments. Includes partnet_mobility models (bucket, fan, faucet, switch) and custom URDFs.
Implements generic pick, place, pour, push, move_to, and wait skills with phase-based trajectories, BiRRT motion planning, and canonical continuous parameters. Skills are reusable across all PyBullet envs.
PR 4/10: Reusable skill factory framework
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