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

Merged

KraHsu merged 12 commits into

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dev/wuji-deploy-genesis

Jun 20, 2026

Commits on Jun 13, 2026

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

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7cce6b7

Commits on Jun 16, 2026

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

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06f566f

Commits on Jun 17, 2026

feat(wuji): integrated Genesis mirror viewer in play_real

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ada382f
fix(wuji): remap encoder<->policy joint order in deploy (real-hand 0% bug)

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d1616fe
feat(wuji): joint frictionloss (stiction) DR for reorient sim2real

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22fa463
revert(wuji): drop frictionloss from reorient DR (hurt sim2sim 0.61->0.52)

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6f7ea64
feat(core+wuji): enable per-env dof/link DR (batch_dofs_info) for reorient sim2real

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a4af95e

Commits on Jun 18, 2026

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

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1b588b9
feat(wuji): per-env gravity-tilt DR — align with mjlab's hand-pitch randomization

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4550c06
test(wuji): add --gravity-tilt to sim2sim_mjlab to measure mount-tilt robustness

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1979db3
tune(wuji): reduce gravity_tilt cone 0.4->0.2 rad (0.4 too hard, training stalled)

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8f233f5

Commits on Jun 19, 2026

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

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a227476