Skip to content

docs(wuji): use uv run in deploy README #237

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Closed
KraHsu wants to merge 1 commit into from
Closed

docs(wuji): use uv run in deploy README #237

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 8 additions & 8 deletions examples/wuji/src/genelab_wuji/deploy/README.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -72,27 +72,27 @@ export LD_LIBRARY_PATH=/opt/MVS/lib/64:/opt/MVS/lib/32:$LD_LIBRARY_PATH

```bash
# 0) export a trained policy to ONNX
genelab export Genelab-Reorient-Wuji-Hand-v0 PATH/model.pt --format onnx --out policy.onnx
uv run genelab export Genelab-Reorient-Wuji-Hand-v0 PATH/model.pt --format onnx --out policy.onnx

# 1) smoke-test the control loop, no hardware, no ZMQ, no viewer
python -m genelab_wuji.deploy.scripts.play_real --ckpt policy.onnx --mock --no-zmq --no-viewer --steps 100
uv run python -m genelab_wuji.deploy.scripts.play_real --ckpt policy.onnx --mock --no-zmq --no-viewer --steps 100

# 1.5) bring up the real hand bridge (needs wujihandpy): check first, then home
python -m genelab_wuji.deploy.scripts.hand_utils check # READ-ONLY: connection + encoder sanity
python -m genelab_wuji.deploy.scripts.hand_utils home # 3s ease-in-out ramp to the grasp pose
uv run python -m genelab_wuji.deploy.scripts.hand_utils check # READ-ONLY: connection + encoder sanity
uv run python -m genelab_wuji.deploy.scripts.hand_utils home # 3s ease-in-out ramp to the grasp pose

# 2) vision: detect the cube and publish its tag-frame pose on ZMQ:5555 (needs MVS env)
python -m genelab_wuji.deploy.scripts.cube_world_observer --preview # terminal A
python -m genelab_wuji.deploy.scripts.toreal_viewer # terminal B (real2sim mirror)
uv run python -m genelab_wuji.deploy.scripts.cube_world_observer --preview # terminal A
uv run python -m genelab_wuji.deploy.scripts.toreal_viewer # terminal B (real2sim mirror)

# 2.5) calibration check: home the hand, render live hand + observed cube in the twin
python -m genelab_wuji.deploy.scripts.calib_check # (needs the observer running)
uv run python -m genelab_wuji.deploy.scripts.calib_check # (needs the observer running)

# 3) drive the real hand from the live observer feed (Genesis mirror viewer on by default,
# showing the live hand + observed cube + goal; pass --no-viewer for headless).
# goal modes: --goal-mode random (uniform-SO3, resampled on success) |
# fixed --goal-quat w,x,y,z | external (goal from toreal_viewer ZMQ)
python -m genelab_wuji.deploy.scripts.play_real --ckpt policy.onnx --real --goal-mode random
uv run python -m genelab_wuji.deploy.scripts.play_real --ckpt policy.onnx --real --goal-mode random
```

`play_real` mirrors the live hand (encoders) + observed cube + goal in a Genesis viewer
Expand Down