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Adds an explicit lower-bound pin to genesis-world (was unpinned) so the 0.4.7 sensor-pipeline refactor and bug fixes are required. uv.lock upgrades genesis-world 0.4.6 -> 0.4.7 and pulls quadrants 0.6.2 -> 0.8.0 (genesis-world 0.4.7 pins it ==0.8.0). Full ruff + pyright + pytest (315 tests) pass under torch-cu128. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Bump genesis-world to >=0.4.7
Strip 5 Menagerie robot configs from genelab.lab; reach them via genelab.asset_zoo or the ROBOTS registry. The CLI now calls load_bundled_asset_zoo() (renamed from load_builtin_registries, with a deprecated alias) explicitly instead of relying on lab.py's implicit import side-effect. Rename Keyboard/DearPyGuiCommandBridge -> *TwistBridge to reflect their hardcoded (vx, vy, wz) scope, and drop the Unitree-G1 velocity defaults from DearPyGuiTwistBridgeCfg so it fails fast for unknown robots. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
Genesis 0.4.7 added an envs_idx kwarg to RigidLink.get_pos / get_quat; upstream MouseInteractionPlugin.on_draw now calls them with that kwarg, which crashed our _wrapped() that accepted no arguments. Forward *args / **kwargs so the mouse external-force drag works again. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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Jun 5, 2026
Dev → main: core facade cleanup + Genesis 0.4.7 compat
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Summary
ed9de4b): strip 5 Menagerie robot configs fromgenelab.lab; renameKeyboard/DearPyGuiCommandBridge→*TwistBridge; drop Unitree-G1 velocity defaults fromDearPyGuiTwistBridgeCfg; renameload_builtin_registries→load_bundled_asset_zoo(with deprecated alias). The CLI now calls the loader explicitly instead of relying onlab.py's implicit import side-effect.bc84562): Genesis 0.4.7 added anenvs_idxkwarg toRigidLink.get_pos / get_quat; the upstreamMouseInteractionPlugin.on_drawnow passes it, which crashed our no-arg_wrapped(). Mouse external-force drag works again.a47582b, merged via Bump genesis-world to >=0.4.7 #63): adds the lower-bound pin so 0.4.7's sensor-pipeline refactor and fixes are required.Test plan
uv run ruff checkcleanuv run pyright— 0 errors, 0 warnings, 0 infosuv run pytest— 315 passeduv run genelab list robots— 5 bundled robots still listed via the explicitload_bundled_asset_zoo()callunitree_g1_velocity_env_cfg(play=True)constructs the teleop bridge asDearPyGuiTwistBridgeCfgwith the explicitvx/vy/wz_rangeoverrides intact🤖 Generated with Claude Code