refactor!: remove sharpa task and hora algorithm (migrate to sharpa_rl_unilab) - #1549
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Migrate the sharpa_inhand task family (SharpaInhandRotation/Grasp) and all hora algorithm integration (hora_ppo/hora_appo/hora_sac/hora_distill) to the dedicated unilabsim/sharpa_rl_unilab repository, following the legged-manipulation_unilab plugin-package pattern (unilab.tasks entry point, bundled assets). Generic mechanisms are kept: asset hub, runtime_resolver dispatch, adapt_legacy_factory, migration/support matrix tooling. Issue: #1547
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…branch Accept the upstream deletion of scripts/train_hora_distill.py and src/unilab/scripts/play_hora_appo.py (PR #1549 moved hora to unilabsim/sharpa_rl_unilab); the CameraCfg/overlay edits on those files are superseded by the move and will be re-applied in the new repo. Drop the hora camera test appended by this branch and the ADR-0008 evidence entry for play_hora_appo.py. Refs unilabsim/wuji_unilab#21
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概要
将 sharpa_inhand 任务族(SharpaInhandRotation/Grasp)与全部 hora 算法集成(hora_ppo / hora_appo / hora_sac / hora_distill)从 UniLab 移除,迁移至独立插件仓库 unilabsim/sharpa_rl_unilab,模式参照 legged-manipulation_unilab(
unilab.tasksentry point + 资产随 wheel 分发)。Close 前需与 unilabsim/unilab_rl 的配套 PR 协调合并(见 #1547)。
改动
tasks/manipulation/sharpa_inhand/、assets/robots/sharpa_wave/、conf/{ppo,appo,sac}/task/sharpa_inhand*/、conf/hora_distill/、scripts/play_hora_appo.py、training/hora_distill_config.py、scripts/train_hora_distill.py等专属代码(38 个文件)验证
make check绿(ruff/pyright 0 errors)rg -i 'sharpa|hora'零命中(排除 .git/.venv/lock/log)待办(合并前)
make test-all全量门禁Issue: #1547