LEAP Hand In-Hand Rotation

A proprioceptive in-hand cylinder rotation project on the low-cost LEAP Hand. The system adapts the HORA/RMA two-stage idea into an 8D skill-prior representation: a privileged teacher first learns stable rotation in Isaac Lab, then a deployable policy recovers the same prior from proprioceptive history only. A refined second stage adds teacher-deployment action consistency and wider center-of-mass coverage, improving OOD success from 0.8750 to 0.9141 while keeping ID success at 1.0000. The same Deploy-Refined checkpoint transfers to real hardware, reaching 10/10 trials on standard and smaller cylinders, 8/10 on a slender bottle, and exposing ribbed bottles as the current contact-geometry boundary.