v0.1.0 — Initial public release

First public release of wuji-mjlab.

See README for setup, docs/sim2real/setup.md for deployment.

Tasks

• WujiHand_Reorient — full SO(3) in-hand cube reorientation (release config, ~20 GB GPU)
• WujiHand_Reorient_Light — lower-VRAM variant (~12 GB GPU)

Released checkpoint (in attached zip)

• Sim2sim success rate: 100% / 100 trials
• Sim2real success rate: 85% / 20 trials
• Avg min orientation error: 4.1 deg

Stack

mjlab + MuJoCo Warp + vendored rsl-rl PPO (BSD-3). Apache-2.0 licensed.