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feat(wuji): Genesis-native deploy + sim2real toolchain - #236

Merged

KraHsu merged 12 commits into

mainfrom

dev/wuji-deploy-genesis

Jun 20, 2026

Commits on Jun 13, 2026
- feat(wuji): Genesis-native deploy — real2sim + ONNX hand control
  
  KraHsu
  and
  claude
  committed
  7cce6b7
Commits on Jun 16, 2026
- feat(wuji): sim2real deploy toolchain + reorient assets in central zoo
  
  KraHsu
  and
  claude
  committed
  06f566f
Commits on Jun 17, 2026
- feat(wuji): integrated Genesis mirror viewer in play_real
  
  KraHsu
  and
  claude
  committed
  ada382f
- fix(wuji): remap encoder<->policy joint order in deploy (real-hand 0% bug)
  
  KraHsu
  and
  claude
  committed
  d1616fe
- feat(wuji): joint frictionloss (stiction) DR for reorient sim2real
  
  KraHsu
  and
  claude
  committed
  22fa463
- revert(wuji): drop frictionloss from reorient DR (hurt sim2sim 0.61->0.52)
  
  KraHsu
  and
  claude
  committed
  6f7ea64
- feat(core+wuji): enable per-env dof/link DR (batch_dofs_info) for reorient sim2real
  
  KraHsu
  and
  claude
  committed
  a4af95e
Commits on Jun 18, 2026
- feat(wuji): add per-env dof_armature DR + widen frictionloss (push reorient sim2real)
  
  KraHsu
  and
  claude
  committed
  1b588b9
- feat(wuji): per-env gravity-tilt DR — align with mjlab's hand-pitch randomization
  
  KraHsu
  and
  claude
  committed
  4550c06
- test(wuji): add --gravity-tilt to sim2sim_mjlab to measure mount-tilt robustness
  
  KraHsu
  and
  claude
  committed
  1979db3
- tune(wuji): reduce gravity_tilt cone 0.4->0.2 rad (0.4 too hard, training stalled)
  
  KraHsu
  and
  claude
  committed
  8f233f5
Commits on Jun 19, 2026
- style(wuji): fix ruff lint + format on deploy toolchain
  
  KraHsu
  and
  claude
  committed
  a227476

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feat(wuji): Genesis-native deploy + sim2real toolchain - #236

feat(wuji): Genesis-native deploy + sim2real toolchain#236
KraHsu merged 12 commits into
mainfrom
dev/wuji-deploy-genesis

Commits on Jun 13, 2026

feat(wuji): Genesis-native deploy — real2sim + ONNX hand control

Commits on Jun 16, 2026

feat(wuji): sim2real deploy toolchain + reorient assets in central zoo

Commits on Jun 17, 2026

feat(wuji): integrated Genesis mirror viewer in play_real

fix(wuji): remap encoder<->policy joint order in deploy (real-hand 0% bug)

feat(wuji): joint frictionloss (stiction) DR for reorient sim2real

revert(wuji): drop frictionloss from reorient DR (hurt sim2sim 0.61->0.52)

feat(core+wuji): enable per-env dof/link DR (batch_dofs_info) for reorient sim2real

Commits on Jun 18, 2026

feat(wuji): add per-env dof_armature DR + widen frictionloss (push reorient sim2real)

feat(wuji): per-env gravity-tilt DR — align with mjlab's hand-pitch randomization

test(wuji): add --gravity-tilt to sim2sim_mjlab to measure mount-tilt robustness

tune(wuji): reduce gravity_tilt cone 0.4->0.2 rad (0.4 too hard, training stalled)

Commits on Jun 19, 2026

style(wuji): fix ruff lint + format on deploy toolchain