gaitlab 0.1.0__tar.gz

gaitlab-0.1.0/LICENSE

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gaitlab-0.1.0/NOTICE

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+gaitlab (gaitlab-arena)
+Copyright 2026 furuse-kazufumi (FullSense)
+
+Licensed under the Apache License, Version 2.0.
+
+This project loads robot models from MuJoCo Menagerie
+(https://github.com/google-deepmind/mujoco_menagerie), which is licensed
+under the Apache License 2.0 by Google DeepMind. The Menagerie models are
+NOT bundled with this project; users clone them separately.

gaitlab-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: gaitlab
+Version: 0.1.0
+Summary: Drive real robots (MuJoCo Menagerie quadrupeds & industrial arms) on CPU — robot sumo, a fighting game, and production-line demos
+Author: furuse-kazufumi
+License: Apache-2.0
+Project-URL: Homepage, https://github.com/furuse-kazufumi/gaitlab-arena
+Project-URL: Repository, https://github.com/furuse-kazufumi/gaitlab-arena
+Project-URL: Issues, https://github.com/furuse-kazufumi/gaitlab-arena/issues
+Keywords: mujoco,robotics,menagerie,simulation,quadruped,manipulator,robot-arm,sumo
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Topic :: Scientific/Engineering
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: mujoco>=3.10
+Requires-Dist: numpy>=1.24
+Requires-Dist: imageio>=2.30
+Requires-Dist: pillow>=10.0
+Dynamic: license-file
+
+# gaitlab — 実在ロボットを CPU で動かすサンドボックス
+
+実在ロボット (MuJoCo Menagerie) を **CPU だけ** で読み込み・駆動・描画するフレームワーク。
+四足歩行ロボ (Unitree Go2 等) と産業用アーム (Franka / UR5e / KUKA iiwa / Kinova) を、
+**同じ 1 つのエンジン**で動かせます。ロボット相撲・格闘ゲーム・生産ラインのデモつき。
+
+> **実機は高価で危険。でもシミュなら只。GPU も要りません。**
+> 開ループ制御まで(学習・タスク計画・把持は今後)。狙いは「生産ラインのロボを AI で動かす」土台。
+
+![全機種ロスター](assets/robot_roster.png)
+
+| ロボット相撲 (Go2 vs Go2) | 産業用アームの生産ライン |
+|---|---|
+| ![sumo](assets/sumo_go2_ringout.gif) | ![production line](assets/production_line.gif) |
+
+---
+
+## Install (動く手順)
+
+**動作確認済み: Python 3.11.3 / mujoco 3.10.0 / numpy 2.4.4 / imageio 2.37.3 (Windows 11)。**
+対応: **Python 3.10 – 3.12**。
+
+```bash
+# 1) このリポジトリを取得
+git clone https://github.com/furuse-kazufumi/gaitlab-arena
+cd gaitlab-arena
+
+# 2) 依存ごとインストール (mujoco>=3.10 / numpy / imageio / pillow)
+pip install -e .
+
+# 3) 実在ロボの 3D モデル集 (MuJoCo Menagerie, Apache-2.0) を隣に clone
+#    (cwd / ホーム / リポジトリの隣 を自動探索。別の場所なら MENAGERIE_DIR で指定)
+git clone https://github.com/google-deepmind/mujoco_menagerie
+```
+
+> **Windows** は描画に `MUJOCO_GL=glfw` を付けてください (offscreen 描画。osmesa/egl は不可)。
+> Menagerie を別の場所に置いた場合は `MENAGERIE_DIR=/path/to/mujoco_menagerie` を指定します。
+
+### 動かす
+
+```bash
+# ロボット相撲 (Go2 vs Go2) を GIF 化
+MUJOCO_GL=glfw python scripts/sumo_match.py --a go2 --b go2 --out sumo.gif
+
+# 産業用アームの生産ライン (4 機種) を GIF 化
+MUJOCO_GL=glfw python scripts/production_line.py --arms franka ur5e iiwa14 kinova --out line.gif
+
+# 全機種ロスター (集合写真) / 単体歩行
+MUJOCO_GL=glfw python scripts/robot_roster.py --out roster.gif
+
+# ロボット格闘ゲーム (要ディスプレイ)   W/S=前後  A/D=旋回  Space=しゃがみ  X=停止
+python scripts/robot_fight.py --player go2 --ai go2
+#   ↑ ヘッドレスで動作確認だけしたいとき:
+MUJOCO_GL=glfw python scripts/robot_fight.py --demo --out fight.gif
+
+# 描画なし (速い・結果だけ)
+python scripts/sumo_match.py --a go2 --b go2 --headless
+
+# 使える機体の一覧
+python scripts/sumo_match.py --list
+```
+
+### ライブラリとして
+
+```python
+from gaitlab.arena import robots
+from gaitlab.arena.build import build_arena
+from gaitlab.arena.gaits import SumoDriveController
+from gaitlab.arena.match import MatchEngine
+from gaitlab.arena.pd_control import PDController
+
+go2 = robots.get("go2")
+_, arena = build_arena([(go2, "A_", -0.45, 0, 0), (go2, "B_", 0.45, 0, 180)], ring_radius=1.0)
+eng = MatchEngine(arena, controllers={
+    "A_": SumoDriveController(aggression=1.4),
+    "B_": SumoDriveController(aggression=0.7),
+}, pd=PDController(kp=60, kd=1.5))
+print(eng.run(max_time=15))   # MatchResult(winner='A_', reason='B__ringout', ...)
+```
+
+---
+
+## 使える機体
+
+すべて [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie)(実機メーカー監修)から。
+
+| 機体 | 種別 | メーカー | 関節 | 現状 |
+|---|---|---|---|---|
+| Unitree Go2 | 四足 | Unitree | 12 (トルク) | 歩く・相撲 ◎ |
+| Unitree Go1 | 四足 | Unitree | 12 (位置) | 歩く ◎ |
+| Unitree A1 | 四足 | Unitree | 12 (位置) | 歩く ◎ |
+| ANYbotics ANYmal C | 四足 | ANYbotics | 12 (位置) | 歩く ○ (背高で不安定) |
+| Boston Dynamics Spot | 四足 | Boston Dynamics | 12 (位置) | 立つ ○ / 歩行は要調整 |
+| Franka Emika Panda | アーム | Franka | 7+グリッパ | 作業動作 ◎ |
+| Universal Robots UR5e | アーム | UR | 6 | 作業動作 ◎ |
+| KUKA iiwa 14 | アーム | KUKA | 7 | 作業動作 ◎ |
+| Kinova Gen3 | アーム | Kinova | 7 | 作業動作 ◎ |
+
+四足は**足先の動きから前進符号を自動較正**して歩容を合わせ込み、アームは**位置制御**で駆動。
+四足 (浮遊ベース・一部トルク制御) もアーム (固定ベース・位置制御) も同じ `MatchEngine` の上に載ります。
+
+---
+
+## 仕組み (要点)
+
+- **合成**: `MjSpec.attach` で N 体のロボ + 土俵/床を 1 つの `MjModel` へ。名前を prefix で解決。
+- **制御分岐**: トルク型 (Go2) は PD、位置型 (アーム等) は目標角をそのまま。PD は毎物理ステップ計算。
+- **歩容符号較正**: 各脚の**足 Jacobian** (有限差分) から前進符号を導出し、機体差 (例: ANYmal の
+  後脚 X 字膝) を吸収して全脚の足先を同じ方向へ。
+- **勝敗判定**: 場外 (ringout) / 転倒 / 時間切れは判定。土俵際で腰が沈む「腰砕け」も負けに。
+- **描画**: `mujoco.Renderer` + カメラ + `imageio`/`pillow` で最適化 GIF。
+- **積分器**: スティフな位置サーボ (アーム) の発散を避けるため `implicitfast`。
+
+テスト: `pip install pytest && MENAGERIE_DIR=/path/to/mujoco_menagerie pytest tests/`(Menagerie が要）。
+
+---
+
+## Quick start (English)
+
+Drive real robots (MuJoCo Menagerie quadrupeds & industrial arms) on **CPU only** — no GPU, no
+physical robot needed. Tested on **Python 3.11.3** (supports 3.10–3.12), mujoco 3.10.
+
+```bash
+git clone https://github.com/furuse-kazufumi/gaitlab-arena && cd gaitlab-arena
+pip install -e .                                                   # mujoco>=3.10, numpy, imageio, pillow
+git clone https://github.com/google-deepmind/mujoco_menagerie      # or set MENAGERIE_DIR
+MUJOCO_GL=glfw python scripts/sumo_match.py --a go2 --b go2 --out sumo.gif   # 'glfw' on Windows
+MUJOCO_GL=glfw python scripts/production_line.py --arms franka ur5e iiwa14 kinova --out line.gif
+```
+
+Open-loop control for now (learning / task planning / grasping are next). The goal: a base for
+**driving production-line robots with AI**, entirely on-prem.
+
+---
+
+## License
+
+**Apache-2.0** (see [LICENSE](LICENSE))。商用利用可。個別の商用ライセンス/サポートは相談可
+(FullSense)。ロボットモデルは同梱しておらず、各自 MuJoCo Menagerie (Apache-2.0) を取得します。
+
+Part of [FullSense](https://qiita.com/furuse-kazufumi) — 自宅 PC で動く、責任感のある AI エコシステム。
+経緯の記事: <https://qiita.com/furuse-kazufumi/items/44508c48f38a68abad35>

gaitlab-0.1.0/README.md

@@ -0,0 +1,142 @@
+# gaitlab — 実在ロボットを CPU で動かすサンドボックス
+
+実在ロボット (MuJoCo Menagerie) を **CPU だけ** で読み込み・駆動・描画するフレームワーク。
+四足歩行ロボ (Unitree Go2 等) と産業用アーム (Franka / UR5e / KUKA iiwa / Kinova) を、
+**同じ 1 つのエンジン**で動かせます。ロボット相撲・格闘ゲーム・生産ラインのデモつき。
+
+> **実機は高価で危険。でもシミュなら只。GPU も要りません。**
+> 開ループ制御まで(学習・タスク計画・把持は今後)。狙いは「生産ラインのロボを AI で動かす」土台。
+
+![全機種ロスター](assets/robot_roster.png)
+
+| ロボット相撲 (Go2 vs Go2) | 産業用アームの生産ライン |
+|---|---|
+| ![sumo](assets/sumo_go2_ringout.gif) | ![production line](assets/production_line.gif) |
+
+---
+
+## Install (動く手順)
+
+**動作確認済み: Python 3.11.3 / mujoco 3.10.0 / numpy 2.4.4 / imageio 2.37.3 (Windows 11)。**
+対応: **Python 3.10 – 3.12**。
+
+```bash
+# 1) このリポジトリを取得
+git clone https://github.com/furuse-kazufumi/gaitlab-arena
+cd gaitlab-arena
+
+# 2) 依存ごとインストール (mujoco>=3.10 / numpy / imageio / pillow)
+pip install -e .
+
+# 3) 実在ロボの 3D モデル集 (MuJoCo Menagerie, Apache-2.0) を隣に clone
+#    (cwd / ホーム / リポジトリの隣 を自動探索。別の場所なら MENAGERIE_DIR で指定)
+git clone https://github.com/google-deepmind/mujoco_menagerie
+```
+
+> **Windows** は描画に `MUJOCO_GL=glfw` を付けてください (offscreen 描画。osmesa/egl は不可)。
+> Menagerie を別の場所に置いた場合は `MENAGERIE_DIR=/path/to/mujoco_menagerie` を指定します。
+
+### 動かす
+
+```bash
+# ロボット相撲 (Go2 vs Go2) を GIF 化
+MUJOCO_GL=glfw python scripts/sumo_match.py --a go2 --b go2 --out sumo.gif
+
+# 産業用アームの生産ライン (4 機種) を GIF 化
+MUJOCO_GL=glfw python scripts/production_line.py --arms franka ur5e iiwa14 kinova --out line.gif
+
+# 全機種ロスター (集合写真) / 単体歩行
+MUJOCO_GL=glfw python scripts/robot_roster.py --out roster.gif
+
+# ロボット格闘ゲーム (要ディスプレイ)   W/S=前後  A/D=旋回  Space=しゃがみ  X=停止
+python scripts/robot_fight.py --player go2 --ai go2
+#   ↑ ヘッドレスで動作確認だけしたいとき:
+MUJOCO_GL=glfw python scripts/robot_fight.py --demo --out fight.gif
+
+# 描画なし (速い・結果だけ)
+python scripts/sumo_match.py --a go2 --b go2 --headless
+
+# 使える機体の一覧
+python scripts/sumo_match.py --list
+```
+
+### ライブラリとして
+
+```python
+from gaitlab.arena import robots
+from gaitlab.arena.build import build_arena
+from gaitlab.arena.gaits import SumoDriveController
+from gaitlab.arena.match import MatchEngine
+from gaitlab.arena.pd_control import PDController
+
+go2 = robots.get("go2")
+_, arena = build_arena([(go2, "A_", -0.45, 0, 0), (go2, "B_", 0.45, 0, 180)], ring_radius=1.0)
+eng = MatchEngine(arena, controllers={
+    "A_": SumoDriveController(aggression=1.4),
+    "B_": SumoDriveController(aggression=0.7),
+}, pd=PDController(kp=60, kd=1.5))
+print(eng.run(max_time=15))   # MatchResult(winner='A_', reason='B__ringout', ...)
+```
+
+---
+
+## 使える機体
+
+すべて [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie)(実機メーカー監修)から。
+
+| 機体 | 種別 | メーカー | 関節 | 現状 |
+|---|---|---|---|---|
+| Unitree Go2 | 四足 | Unitree | 12 (トルク) | 歩く・相撲 ◎ |
+| Unitree Go1 | 四足 | Unitree | 12 (位置) | 歩く ◎ |
+| Unitree A1 | 四足 | Unitree | 12 (位置) | 歩く ◎ |
+| ANYbotics ANYmal C | 四足 | ANYbotics | 12 (位置) | 歩く ○ (背高で不安定) |
+| Boston Dynamics Spot | 四足 | Boston Dynamics | 12 (位置) | 立つ ○ / 歩行は要調整 |
+| Franka Emika Panda | アーム | Franka | 7+グリッパ | 作業動作 ◎ |
+| Universal Robots UR5e | アーム | UR | 6 | 作業動作 ◎ |
+| KUKA iiwa 14 | アーム | KUKA | 7 | 作業動作 ◎ |
+| Kinova Gen3 | アーム | Kinova | 7 | 作業動作 ◎ |
+
+四足は**足先の動きから前進符号を自動較正**して歩容を合わせ込み、アームは**位置制御**で駆動。
+四足 (浮遊ベース・一部トルク制御) もアーム (固定ベース・位置制御) も同じ `MatchEngine` の上に載ります。
+
+---
+
+## 仕組み (要点)
+
+- **合成**: `MjSpec.attach` で N 体のロボ + 土俵/床を 1 つの `MjModel` へ。名前を prefix で解決。
+- **制御分岐**: トルク型 (Go2) は PD、位置型 (アーム等) は目標角をそのまま。PD は毎物理ステップ計算。
+- **歩容符号較正**: 各脚の**足 Jacobian** (有限差分) から前進符号を導出し、機体差 (例: ANYmal の
+  後脚 X 字膝) を吸収して全脚の足先を同じ方向へ。
+- **勝敗判定**: 場外 (ringout) / 転倒 / 時間切れは判定。土俵際で腰が沈む「腰砕け」も負けに。
+- **描画**: `mujoco.Renderer` + カメラ + `imageio`/`pillow` で最適化 GIF。
+- **積分器**: スティフな位置サーボ (アーム) の発散を避けるため `implicitfast`。
+
+テスト: `pip install pytest && MENAGERIE_DIR=/path/to/mujoco_menagerie pytest tests/`(Menagerie が要）。
+
+---
+
+## Quick start (English)
+
+Drive real robots (MuJoCo Menagerie quadrupeds & industrial arms) on **CPU only** — no GPU, no
+physical robot needed. Tested on **Python 3.11.3** (supports 3.10–3.12), mujoco 3.10.
+
+```bash
+git clone https://github.com/furuse-kazufumi/gaitlab-arena && cd gaitlab-arena
+pip install -e .                                                   # mujoco>=3.10, numpy, imageio, pillow
+git clone https://github.com/google-deepmind/mujoco_menagerie      # or set MENAGERIE_DIR
+MUJOCO_GL=glfw python scripts/sumo_match.py --a go2 --b go2 --out sumo.gif   # 'glfw' on Windows
+MUJOCO_GL=glfw python scripts/production_line.py --arms franka ur5e iiwa14 kinova --out line.gif
+```
+
+Open-loop control for now (learning / task planning / grasping are next). The goal: a base for
+**driving production-line robots with AI**, entirely on-prem.
+
+---
+
+## License
+
+**Apache-2.0** (see [LICENSE](LICENSE))。商用利用可。個別の商用ライセンス/サポートは相談可
+(FullSense)。ロボットモデルは同梱しておらず、各自 MuJoCo Menagerie (Apache-2.0) を取得します。
+
+Part of [FullSense](https://qiita.com/furuse-kazufumi) — 自宅 PC で動く、責任感のある AI エコシステム。
+経緯の記事: <https://qiita.com/furuse-kazufumi/items/44508c48f38a68abad35>

gaitlab-0.1.0/gaitlab/__init__.py

@@ -0,0 +1,13 @@
+"""gaitlab — 実在ロボット (MuJoCo Menagerie) を CPU で動かすサンドボックス.
+
+四足歩行ロボ (Unitree Go2 等) と産業用アーム (Franka / UR5e / KUKA iiwa / Kinova)
+を、同じ 1 つのエンジンで土俵 / ワークセルに読み込み・駆動・描画する。
+ロボット相撲 / 格闘ゲーム / 生産ライン のデモを CPU だけで動かせる。
+
+公開 API はサブパッケージ ``gaitlab.arena`` にある::
+
+    from gaitlab.arena import robots, build_arena, MatchEngine
+"""
+from __future__ import annotations
+
+__version__ = "0.1.0"

gaitlab-0.1.0/gaitlab/arena/__init__.py

@@ -0,0 +1,43 @@
+"""robot-sumo / robot-fight arena — 実在ロボ (MuJoCo Menagerie) を土俵で戦わせる.
+
+gaitlab の歩行進化資産 (CPG/MAP-Elites) とは別軸の「実機モデルを動かす」トラック。
+Menagerie の四足 (Go2 等) は torque(motor) actuator なので、position servo を
+持たない → PD 制御 (torque = kp*(q_des-q) - kd*qdot) で立たせ・動かす。
+
+構成:
+    robots      RobotSpec + REGISTRY (Menagerie ロボの home pose 内省)
+    pd_control  PDController (関節空間 PD → トルク)
+    build       build_arena (MjSpec attach で N 体 + 土俵を 1 model へ)
+    gaits       Hold / Walk(trot) / SumoDrive コントローラ
+    match       MatchEngine (ringout / 転倒 判定 + 勝敗)
+    render      試合を GIF 化
+"""
+from __future__ import annotations
+
+from gaitlab.arena.build import ArenaIndex, RobotIndex, build_arena
+from gaitlab.arena.gaits import (
+    ArmMotionController,
+    HoldController,
+    SteerableDriveController,
+    SumoDriveController,
+    WalkController,
+)
+from gaitlab.arena.match import MatchEngine, MatchResult
+from gaitlab.arena.pd_control import PDController
+from gaitlab.arena.robots import REGISTRY, RobotSpec
+
+__all__ = [
+    "REGISTRY",
+    "RobotSpec",
+    "PDController",
+    "ArenaIndex",
+    "RobotIndex",
+    "build_arena",
+    "HoldController",
+    "WalkController",
+    "SumoDriveController",
+    "SteerableDriveController",
+    "ArmMotionController",
+    "MatchEngine",
+    "MatchResult",
+]