[wlgys8]

Summary

PR 2 of the robot/deployment refactor, independently based on main after PR #100.

• Extract reusable simulation robot configurations and their MJCF/URDF, mesh and texture assets into the core-only motrix-robots workspace package.
• Keep all seven models' existing configuration, key poses, actuator parameters and public registry IDs unchanged (anymal_c, dex-evt, g1-29dof, go1, go2, k1, microduck).
• Discover installed robot plugins lazily in motrix_env_core.registry through the motrix_env_core.robots entry-point group. motrix-robots declares builtin = "motrix_robots.registration:register"; applications need no explicit registration imports. Direct builtin model imports still do not discover plugins, import training/simulators or read assets.
• Expose robot and helper types through the deliberate motrix_robots public API (from motrix_robots import Microduck, UnitreeGo2Robot). Model modules and model assets are flat at package root; internal consumers import definition modules directly. Remove the old motrix_envs.robot forwarding modules, without compatibility aliases.
• Update training, view/replay/converter scripts, existing deployment-profile consumers, robot documentation generator and model resource references.
• Compose ANYmal and Go1 task-owned scenes with extracted robot configurations; Go1 stairs keeps its motor-actuator model, native solver options and initial state. Keep task terrain XML/materials/heightmaps and motphys-ground.png in motrix_envs, not in the robot package. Motion conversion uses the G1 model-only XML rather than a ground-scene wrapper.
• Update workspace/dependency metadata, asset notices and bilingual documentation.

Scope

This is ownership and packaging work only. It does not include deployment runtime/task/artifact changes, Unitree hardware configuration extraction, new sensor declarations, SimCfg changes, robot-ID renaming or robot tuning. PR #100 actuator code is unchanged. The source big branch is preserved.

Most changed files are asset renames. The model package depends only on motrix-env-core; motrix-envs depends on motrix-robots.

Review and preservation

An independent read-only subagent reviewed the settled implementation and approved it with no material findings.

• All seven builtin model configurations match the baseline except relocated model-file paths.
• Original extraction verified 256 robot/Go1/shared-texture assets, including expanded LFS content against original SHA256 identifiers. Subsequent review keeps only model assets in the robot package: terrain/materials/heightmaps remain in environments, the duplicate ground texture is removed, and unused G1/Dex-EVT ground-scene wrappers are removed. Relocated model assets and terrain binaries preserve their content.
• All XML/URDF include, mesh and texture dependencies resolve inside the new package.
• Independently reconstructed the original ANYmal XML scene and compared it with composition through the extracted model: identical initial DOF vector and body/geom/actuator/sensor counts.
• Deliberately excluded the unrelated Go1 accelerometer and Go2 hardware lie_down pose additions from the source big branch.

Validation

• Independent source-isolated review suite: 128 passed.
• Model package suite: 31 passed; affected consumer suites: 121 passed.
• Built both robot and environment wheels; imported all seven robot configurations from the wheel layout and compiled all seven with MuJoCo successfully.
• CI-pinned Ruff 0.15.16 formatting check, all pre-commit hooks, lockfile check and diff whitespace checks passed.
• Strict full English and Chinese Sphinx builds and robot documentation generator --check passed.
• Initial package-extraction broad integration suite: 783 passed, 3 skipped, using worktree source and matching baseline plugin metadata. An earlier CLI failure was traced to locally installed plugin metadata from the source big branch; corrected test isolation without source changes.
• After adding automatic robot discovery: 335 tests passed (core, models, scene/robot consumers and CLI/view), plus 46 independent review tests passed. Rebuilt-wheel smoke test constructs go2 from core alone and lists all seven IDs without importing training or simulators.
• After flattening the public API, removing forwarding modules and separating task resources: 395 tests passed; final robot/environment wheels successfully load root model exports and compile Go1 stairs with unchanged motor controls and solver options. CI-pinned format check, all hooks, lock check and strict English/Chinese Sphinx builds passed again. Independent review additionally compared native stairs options/state/control/sensor semantics and G1 model-only FK with baseline.

[Copilot]

🔵 Needs a closer look

Although no concrete defects were found, the change is very large (200+ relocated assets, a new core discovery subsystem, and a behavioral ANYmal scene-composition change) and warrants final human review.

0 open findings

What changed in this PR

This PR is step 2 of a robot/deployment refactor (following merged PR #100). It extracts the seven built-in simulation robot configurations and their MJCF/URDF, mesh, and texture assets out of motrix_envs into a new core-only motrix-robots workspace package, and switches robot registration from import-time side effects to lazy entry-point discovery in motrix_env_core.registry (group motrix_env_core.robots). Public registry IDs, key poses, actuator parameters, and motrix_envs.robot import paths are preserved (the latter as thin forwarding facades), so the change is primarily ownership/packaging rather than behavior.

Changes:

• Add motrix-robots package (config classes, builtins/* robot definitions, relocated LFS assets, entry-point registration.register) and wire it into workspace/lock metadata.
• Add lazy robot discovery to the core registry and migrate internal consumers (scripts, tests, ANYmal task scene composition) to import robot classes from motrix_robots.builtins.*.
• Update bilingual READMEs/docs and package counts (twelve → thirteen).

File	Description
motrix_robots/​pyproject.toml	New package metadata, core-only dep, motrix_env_core.robots entry point.
motrix_robots/​src/​.../​registration.py	Entry-point callback registering the seven preserved robot IDs.
motrix_robots/​src/​.../​builtins/​{quadruped,humanoid}.py	Relocated model-config base classes with validation.
motrix_robots/​src/​.../​builtins/​assets/​**, common/​*.png	Relocated LFS MJCF/URDF/mesh/texture assets (incl. texture-path fixes).
motrix_robots/​tests/​test_assets.py	Asserts bundled XML/URDF mesh/texture references form a package-local closure.
pyproject.toml, uv.lock	Register motrix_robots as workspace member/source.
scripts/​motion/​replay.py, scripts/​private/​*	Import robot classes from motrix_robots.builtins.*.
tests/​test_view_script.py	Import UnitreeGo2Robot from the new package.
README.md, README.zh-CN.md	Document the new package and update the package count.

🧠 Review effort: Balanced

---

💡 Add a code-review agent skill or configure MCP servers for context-aware, tailored reviews. Learn more in the docs.