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KraHsu merged 1 commit into from
Jun 20, 2026
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docs(wuji): link deploy/sim2real toolchain from example README #239

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23 changes: 23 additions & 0 deletions examples/wuji/README.md
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Expand Up @@ -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.