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Promote dev to main: M2-M4 + showcase + foundation docs - #34

Merged

KraHsu merged 53 commits into

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dev

May 15, 2026

Commits on May 14, 2026
- Extract Entity + Scene abstractions from ManagerBasedRlEnv
  
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- Merge feat/m1-entity-scene into dev
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- Insert dev layer between feature branches and main
  
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- Introduce actuator abstraction with ImplicitPD / IdealPD / DCMotor models
  
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- Merge feat/m2-actuator into dev
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- Introduce terrains/ namespace backed by gs.morphs.Terrain
  
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- Skip Genesis renderer tests when libEGL is unavailable
  
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- Merge pull request #14 from KraHsu/feat/m3-terrain-generator
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- Wire RayCastSensor to bilinearly sample terrain heightfields
  
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- Merge pull request #15 from KraHsu/feat/m3-terrain-sensor
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- Add terrain_levels_vel curriculum + bilingual terrains concept page
  
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- Merge pull request #16 from KraHsu/feat/m3-terrain-curriculum
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- Add SlopeCfg and WaveCfg sub-terrains
  
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- Merge pull request #17 from KraHsu/feat/m3-terrain-shapes
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- Add RingPattern and HemispherePattern to ray-cast sensor
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- Merge pull request #18 from KraHsu/feat/m4-raycast-patterns
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- Add IMUSensor for orientation and body-frame accelerations
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- Merge pull request #19 from KraHsu/feat/m4-sensor-imu
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- Add FrameTransformerSensor for FK-style relative pose
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- Merge pull request #20 from KraHsu/feat/m4-sensor-frame-transformer
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- Add M4 end-to-end sensor integration smoke
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- Merge pull request #21 from KraHsu/feat/m4-sensor-integration-smoke
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Commits on May 15, 2026
- Cut per-step allocations + CUDA syncs on training hot path
  
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- Apply ruff format
  
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- Merge pull request #22 from KraHsu/fix/perf-hot-path-allocations
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- Add CLI profiling flags and `genelab prof open` helper
  
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- Merge pull request #23 from KraHsu/feat/profiling-cli
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- Surface `prof` in the CLI overview and landing page
  
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- Merge pull request #24 from KraHsu/docs/profiling-discoverability
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- Seed asset zoo with cartpole and franka
  
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- Merge pull request #25 from KraHsu/feat/m4-asset-zoo-cartpole-franka
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- Close M4 asset zoo with g1, go1, and anymal-c
  
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- Merge pull request #26 from KraHsu/feat/m4-asset-zoo-unitree-anymal
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- Upgrade FrankaPandaCfg to full Menagerie franka_emika_panda
  
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- Merge pull request #27 from KraHsu/feat/m4-asset-zoo-franka-menagerie
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- Close M4 with CameraSensor (Genesis BatchRenderer RGB-D)
  
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- Merge pull request #28 from KraHsu/feat/m4-sensor-camera
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- Add InteractiveSceneCfg.batch_render to opt into Genesis BatchRenderer
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- Add Sensor.pre_build_genesis hook for camera-like resources
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- Move viewer-closed handling into InteractiveScene; expose env.viewer_closed
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- Fix TerrainImporter randint device and anchor Franka arm regex
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- Add examples/genelab_showcase with six play-only tasks
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- Add bilingual scene / showcase / unitree-g1 docs
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- Update CHANGELOG with M1-M4 follow-up additions
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- Fix showcase CI failure and remove fictional override paths
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- Add Managers concept and CLI list/info bilingual docs
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- Fix fictional override-path examples in list-info doc
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- Add MDP terms reference bilingual doc
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- Add RL runner bilingual concept page
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- Merge pull request #29 from KraHsu/feat/showcase-and-foundation-docs
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- Merge pull request #30 from KraHsu/docs/managers-concept-and-cli-info
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- Merge pull request #31 from KraHsu/docs/mdp-terms-reference
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- Merge pull request #32 from KraHsu/docs/rl-runner-concept
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Commits

Commits on May 14, 2026

Commits on May 15, 2026