From d4a6b04e6aa195d84dd30ef379fe2a106442553c Mon Sep 17 00:00:00 2001 From: KraHsu Date: Sat, 20 Jun 2026 14:20:36 +0800 Subject: [PATCH] docs(wuji): link the deploy/sim2real toolchain from the example README MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit The top-level examples/wuji/README.md only covered task registration, so the `uv run wuji …` deploy entry (documented in deploy/README.md) was undiscoverable from there. Add a "Deploy (sim2real)" section with the command table and a link to the full deploy README. Co-Authored-By: Claude Opus 4.8 (1M context) --- examples/wuji/README.md | 23 +++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/examples/wuji/README.md b/examples/wuji/README.md index 42d21817..8c91d2f1 100644 --- a/examples/wuji/README.md +++ b/examples/wuji/README.md @@ -22,3 +22,26 @@ uv run genelab play GeneLab-Wuji-Hand-Playback-v0 --steps 240 ``` Use `--no-entry-points` when you want to verify core GeneLab without installed extensions. + +## Deploy (sim2real) + +A Genesis-native sim2real toolchain takes a trained reorient policy to the real +(or mock) Wuji hand — real2sim cube tracking, a Hikvision cube observer, calibration, +and the ONNX deploy control loop. It installs a unified **`wuji`** console entry: + +```bash +uv pip install -e 'examples/wuji[deploy]' # + [deploy-vision] / [deploy-hand] as needed +uv run wuji --help # list commands +uv run wuji play --ckpt policy.onnx --real --goal-mode random +``` + +| command | purpose | +|---|---| +| `wuji check` / `home` | read-only hand-bridge test / ramp to grasp pose | +| `wuji observer` | Hikvision camera → ArUco cube pose → ZMQ | +| `wuji viewer` | real2sim Genesis mirror of the observed cube | +| `wuji calib` | calibration viewer (live hand + cube vs. digital twin) | +| `wuji play` | deploy control loop (real/mock) + goal modes + success monitor | + +See **[`src/genelab_wuji/deploy/README.md`](src/genelab_wuji/deploy/README.md)** for the +full pipeline, ZMQ wiring, install extras, and the Hikvision MVS SDK setup.