concerto-multirobot 0.7.0__tar.gz

concerto_multirobot-0.7.0/.devcontainer/devcontainer.json

@@ -0,0 +1,19 @@
+{
+  "name": "concerto",
+  "build": { "dockerfile": "../Dockerfile.cpu", "target": "dev" },
+  "features": {
+    "ghcr.io/devcontainers/features/git:1": {},
+    "ghcr.io/devcontainers/features/github-cli:1": {}
+  },
+  "postCreateCommand": "uv sync --all-extras && pre-commit install",
+  "customizations": {
+    "vscode": {
+      "extensions": [
+        "ms-python.python",
+        "charliermarsh.ruff",
+        "ms-python.vscode-pylance",
+        "tamasfe.even-better-toml"
+      ]
+    }
+  }
+}

concerto_multirobot-0.7.0/.editorconfig

@@ -0,0 +1,21 @@
+root = true
+
+[*]
+charset = utf-8
+end_of_line = lf
+insert_final_newline = true
+trim_trailing_whitespace = true
+
+[*.py]
+indent_style = space
+indent_size = 4
+
+[*.{toml,yaml,yml,json}]
+indent_style = space
+indent_size = 2
+
+[*.md]
+trim_trailing_whitespace = false
+
+[Makefile]
+indent_style = tab

concerto_multirobot-0.7.0/.gitattributes

@@ -0,0 +1,31 @@
+# Normalise line endings to LF on checkout everywhere.
+* text=auto eol=lf
+
+# Source files — always text.
+*.py    text eol=lf
+*.toml  text eol=lf
+*.yaml  text eol=lf
+*.yml   text eol=lf
+*.json  text eol=lf
+*.md    text eol=lf
+*.rst   text eol=lf
+*.sh    text eol=lf
+*.cfg   text eol=lf
+*.ini   text eol=lf
+*.txt   text eol=lf
+*.lock  text eol=lf
+
+# Binary assets — do not diff or mangle.
+*.png   binary
+*.jpg   binary
+*.jpeg  binary
+*.gif   binary
+*.ico   binary
+*.pdf   binary
+*.pt    binary
+*.pth   binary
+*.ckpt  binary
+*.safetensors binary
+
+# Linguist overrides — keep language stats accurate.
+uv.lock linguist-generated=true

concerto_multirobot-0.7.0/.github/CODEOWNERS

@@ -0,0 +1,31 @@
+# CODEOWNERS for CONCERTO/CHAMBER
+#
+# Global default — every PR needs at least one of these reviewers.
+*                              @fsafaei
+
+# Method (CONCERTO) — ADR-bearing, extra care.
+/src/concerto/api/             @fsafaei
+/src/concerto/safety/          @fsafaei
+/src/concerto/training/        @fsafaei
+/src/concerto/policies/        @fsafaei
+
+# Benchmark (CHAMBER) — ADR-bearing, extra care.
+/src/chamber/envs/             @fsafaei
+/src/chamber/comm/             @fsafaei
+/src/chamber/partners/         @fsafaei
+/src/chamber/safety/           @fsafaei
+/src/chamber/evaluation/       @fsafaei
+/src/chamber/benchmarks/       @fsafaei
+
+# ADR snapshot — frozen artefact, sync only via dedicated PR.
+/adr/                          @fsafaei
+
+# CI / supply-chain.
+/.github/                      @fsafaei
+/scripts/                      @fsafaei
+/Makefile                      @fsafaei
+/pyproject.toml                @fsafaei
+/uv.lock                       @fsafaei
+
+# Spike infrastructure — pre-registration discipline lives here.
+/spikes/                       @fsafaei

concerto_multirobot-0.7.0/.github/ISSUE_TEMPLATE/adr-question.md

@@ -0,0 +1,25 @@
+---
+name: ADR question
+about: Ask a question about an existing or proposed ADR
+title: "adr-question: "
+labels: ["adr"]
+---
+
+## Which ADR
+
+<!-- ADR number and section reference. Example: ADR-004 §Decision. -->
+
+## Question
+
+<!-- The specific thing you'd like clarified or challenged. -->
+
+## Context
+
+<!-- Background that helps reviewers understand why you're asking.
+     If your question is downstream of a spike outcome, name the
+     spike and the relevant leaderboard.json. -->
+
+## Suggested resolution (optional)
+
+<!-- If you have a concrete proposal, write it here. ADR amendments
+     are tracked through this issue type. -->

concerto_multirobot-0.7.0/.github/ISSUE_TEMPLATE/bug.md

@@ -0,0 +1,45 @@
+---
+name: Bug report
+about: Something is not working as expected
+title: "bug: "
+labels: ["bug"]
+---
+
+## What happened?
+
+<!-- A clear description of the unexpected behaviour. -->
+
+## What did you expect to happen?
+
+<!-- The behaviour you expected. -->
+
+## Steps to reproduce
+
+1.
+2.
+3.
+
+## Minimal reproducer
+
+<!-- A code snippet or command line that reproduces the bug. The smaller the better. -->
+
+```python
+```
+
+## Environment
+
+- OS:
+- Python version:
+- `concerto` / `chamber` version (or commit SHA):
+- GPU / CUDA (if relevant):
+- ManiSkill v3 commit (if relevant):
+
+## Logs / stack trace
+
+```
+```
+
+## ADR-relevant?
+
+<!-- Does this bug call into question an accepted ADR's Decision? If yes,
+     name the ADR and section. -->

concerto_multirobot-0.7.0/.github/ISSUE_TEMPLATE/feature.md

@@ -0,0 +1,27 @@
+---
+name: Feature request
+about: Suggest a new feature or enhancement
+title: "feat: "
+labels: ["enhancement"]
+---
+
+## Problem
+
+<!-- What user problem does this solve? Who hits it, and how often? -->
+
+## Proposed solution
+
+<!-- How would you like the project to address it? -->
+
+## Alternatives considered
+
+<!-- Other approaches you thought about and why they're worse. -->
+
+## ADR implications
+
+<!-- Does this require a new ADR? Does it change an accepted one?
+     If unsure, leave a placeholder and we'll discuss. -->
+
+## Phase / milestone
+
+<!-- Which Phase (0/1/2/3) does this belong in? Which milestone? -->

concerto_multirobot-0.7.0/.github/PULL_REQUEST_TEMPLATE.md

@@ -0,0 +1,39 @@
+## Summary
+
+<!-- One paragraph: what changed and why. -->
+
+## ADR references
+
+<!-- Cite the ADR(s) this PR implements or touches.
+     Example: ADR-001 §Decision item 2; ADR-007 Stage 1 AS spike. -->
+
+-
+
+## Test plan
+
+<!-- How was this validated? Reference new tests by path. -->
+
+- [ ] Unit tests added/updated
+- [ ] Property tests (Hypothesis) added/updated where applicable
+- [ ] Integration tests added/updated
+- [ ] `make verify` green locally
+- [ ] `make verify-no-ai-mentions` green locally
+
+## Risk
+
+<!-- Known risks, edge cases, or rollback plan. Cross-reference any open
+     risks in the milestone's plan/*.md §Risk register if applicable. -->
+
+## Reproducibility note
+
+<!-- If this PR produces a results artefact (a spike, a benchmark output,
+     a published number), name the `scripts/repro/<artefact>.sh` that
+     reproduces it from a clean checkout. -->
+
+## Checklist
+
+- [ ] Conventional Commits format on every commit message
+- [ ] Every public symbol has a docstring with an ADR reference (where ADR-bearing)
+- [ ] No `from chamber` imports inside `src/concerto/`
+- [ ] No private (`_`) imports from `mani_skill`
+- [ ] Documentation updated in the same PR (Diátaxis quadrant)

concerto_multirobot-0.7.0/.github/branch-protection.json

@@ -0,0 +1,38 @@
+{
+  "_note": "Apply to the 'main' branch via: gh api repos/fsafaei/concerto/branches/main/protection --method PUT --input .github/branch-protection.json",
+  "required_status_checks": {
+    "strict": true,
+    "contexts": [
+      "lint (3.11)",
+      "lint (3.12)",
+      "type-check (3.11)",
+      "type-check (3.12)",
+      "test-unit (3.11)",
+      "test-unit (3.12)",
+      "test-property (3.11)",
+      "test-property (3.12)",
+      "test-integration (3.11)",
+      "test-integration (3.12)",
+      "coverage-gate",
+      "docs-build",
+      "licence-scan",
+      "sbom",
+      "CodeQL",
+      "OSV-Scanner",
+      "verify-no-ai-mentions"
+    ]
+  },
+  "enforce_admins": true,
+  "required_pull_request_reviews": {
+    "required_approving_review_count": 1,
+    "dismiss_stale_reviews": true,
+    "require_code_owner_reviews": true,
+    "require_last_push_approval": true
+  },
+  "restrictions": null,
+  "required_linear_history": true,
+  "allow_force_pushes": false,
+  "allow_deletions": false,
+  "required_conversation_resolution": true,
+  "required_signatures": true
+}

concerto_multirobot-0.7.0/.github/dependabot.yml

@@ -0,0 +1,50 @@
+version: 2
+updates:
+  - package-ecosystem: "github-actions"
+    directory: "/"
+    schedule:
+      interval: "daily"
+    groups:
+      ci:
+        patterns: ["*"]
+    labels:
+      - "dependencies"
+      - "ci"
+
+  - package-ecosystem: "pip"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+      day: "monday"
+    groups:
+      runtime-minor-patch:
+        update-types:
+          - "minor"
+          - "patch"
+    open-pull-requests-limit: 5
+    labels:
+      - "dependencies"
+      - "python"
+    ignore:
+      # ADR-001 §Decision: ManiSkill v3 is pinned at 3.0.1 by SHA. The
+      # wrapper-only extension contract requires this exact version
+      # (private-API drift between minor releases would break our
+      # wrappers silently). Bumping requires a new ADR + a full
+      # wrapper sweep, not a dependabot PR.
+      - dependency-name: "mani-skill"
+      # ADR-002 §Decisions + plan/05 §2: the ``torch>=2.3,<2.6`` range
+      # is the validated compatibility window for both
+      # ``mani-skill==3.0.1`` and the ``harl@v0.1.0-aht`` fork. Bumping
+      # outside that range would break compat; bumping inside it (e.g.
+      # 2.5.0 → 2.5.1) requires a manual sweep of the test suite.
+      # Either way the upgrade decision is a CONCERTO-side audit, not
+      # a dependabot PR.
+      - dependency-name: "torch"
+
+  - package-ecosystem: "docker"
+    directory: "/"
+    schedule:
+      interval: "weekly"
+    labels:
+      - "dependencies"
+      - "docker"

concerto_multirobot-0.7.0/.github/workflows/ci.yml

@@ -0,0 +1,215 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+    paths:
+      - "src/**"
+      - "tests/**"
+      - ".github/workflows/ci.yml"
+      - "pyproject.toml"
+      - "README.md"
+      - "docs/**"
+      - "mkdocs.yml"
+  pull_request:
+    branches: [main]
+    paths:
+      - "src/**"
+      - "tests/**"
+      - ".github/workflows/ci.yml"
+      - "pyproject.toml"
+      - "README.md"
+      - "docs/**"
+      - "mkdocs.yml"
+      # Catch release-please PRs (which only touch CHANGELOG + pyproject) for
+      # the verify-changelog-completeness job below — closes #126.
+      - "CHANGELOG.md"
+      - "scripts/check_changelog_completeness.py"
+
+permissions:
+  contents: read
+
+jobs:
+  lint:
+    name: lint (${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --group dev --group train
+      - run: uv run ruff check src tests
+      - run: uv run ruff format --check src tests
+
+  type-check:
+    name: type-check (${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --group dev --group train
+      - run: uv run pyright
+
+  test-unit:
+    name: test-unit (${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --group dev --group train
+      - run: uv run pytest tests/unit -n auto --no-cov
+
+  test-property:
+    name: test-property (${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --group dev --group train
+      - run: uv run pytest tests/property --no-cov
+
+  test-integration:
+    name: test-integration (${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          # ADR-007 §Discipline: Stage-1 adapters (and the real-env
+          # tests at tests/integration/test_stage1_{as,om}_real.py)
+          # call chamber.evaluation.prereg.verify_git_tag, which
+          # `git rev-parse`s pre-registration tags (e.g.
+          # prereg-stage1-AS-2026-05-15). Default checkout ships
+          # without tags, so without this the audit-chain pin would
+          # red-x CI as a tag-missing PreregistrationError. Fetching
+          # tags is cheap and matches the existing pattern below for
+          # verify-changelog-completeness.
+          fetch-tags: true
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --group dev --group train
+      - run: uv run pytest tests/integration -n auto -m "not gpu" --no-cov
+
+  coverage-gate:
+    name: coverage-gate
+    runs-on: ubuntu-latest
+    needs: [test-unit, test-property, test-integration]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          # ADR-007 §Discipline: same rationale as test-integration —
+          # the unfiltered pytest collects tests/integration/test_stage1_*_real.py
+          # which call verify_git_tag, so the prereg tags MUST be
+          # present on the runner.
+          fetch-tags: true
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: "3.11"
+      - run: uv sync --group dev --group train
+      - run: uv run pytest --cov=concerto --cov=chamber --cov-fail-under=80 --cov-report=xml
+      - uses: codecov/codecov-action@57e3a136b779b570ffcdbf80b3bdc90e7fab3de2  # v6.0.0
+        with:
+          files: coverage.xml
+          fail_ci_if_error: false
+
+  docs-build:
+    name: docs-build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: "3.11"
+      - run: uv sync --extra docs --group dev --group train
+      - run: uv run mkdocs build --strict
+
+  licence-scan:
+    name: licence-scan
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: "3.11"
+      - run: uv sync --group dev --group train
+      - run: uv run pip-licenses --format=json --with-license-file --with-notice-file --output-file=licences.json
+      - run: uv run python scripts/check_licences.py < licences.json
+
+  sbom:
+    name: sbom
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: "3.11"
+      - run: uv sync --group dev --group train
+      - run: uv run cyclonedx-py environment -o sbom.spdx.json
+      - uses: actions/upload-artifact@043fb46d1a93c77aae656e7c1c64a875d1fc6a0a  # v7.0.1
+        with:
+          name: sbom
+          path: sbom.spdx.json
+
+  test-smoke:
+    name: test-smoke (${{ matrix.python-version }})
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: ${{ matrix.python-version }}
+      - run: uv sync --group dev --group train
+      # GPU-less runners: Tier-1 (fake env) tests run; Tier-2 (real ManiSkill) tests skip.
+      - run: uv run pytest -m smoke --no-cov
+
+  verify-no-ai-mentions:
+    name: verify-no-ai-mentions
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          fetch-depth: 0
+      - run: bash scripts/check_no_ai_mentions.sh
+
+  verify-changelog-completeness:
+    # Closes #126. Runs on every PR but is a no-op unless the PR's CHANGELOG
+    # adds a new ## [X.Y.Z] section (i.e. the release-please PR). Needs full
+    # history + tags so the previous release tag is reachable.
+    name: verify-changelog-completeness
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          fetch-depth: 0
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: "3.11"
+      # The script only uses Python stdlib (subprocess, re, pathlib), so a
+      # full `uv sync` is not needed. `uv run --no-project` runs an ephemeral
+      # interpreter without resolving the project env — fast and self-contained.
+      - run: uv run --no-project python scripts/check_changelog_completeness.py

concerto_multirobot-0.7.0/.github/workflows/docs-deploy.yml

@@ -0,0 +1,35 @@
+name: Docs Deploy
+
+on:
+  push:
+    branches: [main]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@de0fac2e4500dabe0009e67214ff5f5447ce83dd  # v6.0.2
+        with:
+          fetch-depth: 0
+      - uses: astral-sh/setup-uv@08807647e7069bb48b6ef5acd8ec9567f424441b  # v5.4.1
+        with:
+          python-version: "3.11"
+      - run: uv sync --extra docs --group dev
+      - run: git config user.name "Farhad Safaei"
+      - run: git config user.email "cooperative.physical.ai@gmail.com"
+      # Deploy the build to gh-pages under the "dev" version and alias it as "latest".
+      # mike will create the gh-pages branch on first run if it does not exist.
+      - run: uv run mike deploy --push --update-aliases dev latest
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+      # Ensure the gh-pages root redirects to /latest/ so visiting
+      # https://fsafaei.github.io/concerto/ renders the site instead of 404.
+      - run: uv run mike set-default --push latest
+        env:
+          GH_TOKEN: ${{ secrets.GITHUB_TOKEN }}