Context
PR #268 adds rcs_taxim, but its integration still relies on a legacy custom sim/env path and custom scene files from the pre-config/pre-scene-stack era.
For the PR refresh, we want to keep the change set focused on making #268 work again on current master and getting CI green. The broader architectural migration should happen separately.
Follow-up
Port rcs_taxim onto the current RCS simulation/config stack:
- replace the legacy custom env creator path with the current
RCSEnvCreator / SimEnvCreatorConfig flow where practical
- decide whether the custom TAXIM FR3 scene should stay as a dedicated MJCF scene or be rebuilt via the scene/composer/task abstractions
- update the example(s) to use the modern config-based env setup
- keep the extension decoupled from removed/deprecated pre-refactor APIs
Why this matters
Right now the old integration shape makes rebases against current master harder than they should be and mixes architectural migration with PR #268’s functional goal.
Context
PR #268 adds
rcs_taxim, but its integration still relies on a legacy custom sim/env path and custom scene files from the pre-config/pre-scene-stack era.For the PR refresh, we want to keep the change set focused on making #268 work again on current
masterand getting CI green. The broader architectural migration should happen separately.Follow-up
Port
rcs_taximonto the current RCS simulation/config stack:RCSEnvCreator/SimEnvCreatorConfigflow where practicalWhy this matters
Right now the old integration shape makes rebases against current
masterharder than they should be and mixes architectural migration with PR #268’s functional goal.