Changelog

Component Versions

Key Updates

• First public release, shipping the WujiHand_Reorient in-hand cube reorientation task, a pretrained checkpoint, and the sim2real deployment bridge
• Training covers the full SO(3) goal space, with a lower-VRAM variant WujiHand_Reorient_Light
• The deploy bridge tracks an ArUco cube with a camera, anchors the world frame to a wrist AprilTag, and runs the exported ONNX policy in closed loop on the physical Wuji Hand