Add URRobotCfg, and dual-arm composition#331

Merged

yuecideng merged 26 commits into

mainfrom

Jun 30, 2026

Commits on Jun 25, 2026

fix(configclass,cfg_utils): respect custom to_dict + tolerate subclass keys in merge_robot_cfg
yuecideng
committed
refactor(robot-cfg): lift _build_defaults hook + serialization into base RobotCfg
yuecideng
committed
refactor(dexforce_w1): conform to _build_defaults hook, fix __all__/tuple/validate/dead-solver-set
yuecideng
committed
refactor(cobotmagic): conform to _build_defaults hook, add __all__
yuecideng
committed
fix(robot): route build_pk_serial_chain through _pk_urdf_path + add DOF drift guard
yuecideng
committed
refactor(robots): add __all__ to robots registry
yuecideng
committed
docs(robot): rewrite add_robot quick-reference for the unified protocol
yuecideng
committed
docs(robot): create the missing add_robot tutorial (Path A + Path B)
yuecideng
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docs(robot-context): align robot-system checklist with unified protocol
yuecideng
committed
feat(skill): add canonical add-robot skill
yuecideng
committed
feat(skill): add Claude + Copilot adapters for add-robot
yuecideng
committed

Commits on Jun 26, 2026

Commits on Jun 28, 2026

Commits on Jun 29, 2026