hyperdrone 0.1.3__tar.gz → 0.1.5__tar.gz

hyperdrone-0.1.5/.gitignore

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+/dist/

hyperdrone-0.1.5/PKG-INFO

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+Metadata-Version: 2.5
+Name: hyperdrone
+Version: 0.1.5
+Summary: The fastest drone simulator and renderer (raytracer).
+Author-email: Jonas Eschmann <jonas.eschmann@gmail.com>
+License: MIT
+Requires-Python: >=3.9
+Requires-Dist: nanobind>=2.0
+Requires-Dist: numpy
+Provides-Extra: examples
+Requires-Dist: imageio; extra == 'examples'
+Requires-Dist: imageio-ffmpeg; extra == 'examples'
+Requires-Dist: matplotlib; extra == 'examples'
+Requires-Dist: scipy; extra == 'examples'
+Provides-Extra: gym
+Requires-Dist: gymnasium>=1.0; extra == 'gym'
+Description-Content-Type: text/markdown
+
+# hyperdrone
+
+Drone simulation stack for RLtools: raytracing renderer, L2F multirotor dynamics, and
+environment setup under one Python package.
+
+| Subpackage | What it is |
+|---|---|
+| `hyperdrone.render` | Raytracing renderer (OptiX / Metal / Vulkan / generic CPU). Self-contained — no dependency on drone dynamics. |
+| `hyperdrone.dynamics` | Vectorized, stateful L2F multirotor simulator (`Sim`); cpu and cuda variants. |
+| `hyperdrone.env` | The RL environment: the C++ `MultiEnvironment<hyperdrone::World>` driven through the exact rl_tools batch verbs. |
+| `hyperdrone.gym` | Optional Gymnasium `VectorEnv` adapter over `hyperdrone.env` (`pip install "hyperdrone[gym]"`). |
+| `hyperdrone.jit` | Shared compile-and-cache infrastructure both domain packages build on. |
+| `hyperdrone.cuda` | CUDA staging helpers (`upload` → DLPack tensor sets). |
+| `hyperdrone.conta` | Client for the sha1 content-addressed asset store — protocol twin of the C++ `include/conta/conta.h`, sharing one cache across both languages. |
+
+Native components are JIT-compiled per set of compile-time constants (resolution, camera
+count, drone count, ...) into a persistent cache; later uses load the cached library
+directly. `render` and `dynamics` are peers that never import each other — the coupling
+surface is a plain DLPack tensor of packed camera bases, device-resident on OptiX + CUDA.
+
+## Notebooks
+
+| Notebook | Open in Colab |
+|---|---|
+| [HyperDrone](hyperdrone/examples/HyperDrone.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/HyperDrone.ipynb#scrollTo=g-cDv8bdN7j9) |
+| [Benchmark](hyperdrone/examples/Benchmark.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/Benchmark.ipynb) |
+| [Custom](hyperdrone/examples/Custom.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/Custom.ipynb) |
+| [Orbiter](hyperdrone/examples/Orbiter.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/Orbiter.ipynb) |
+
+## Install
+
+From an rl-tools checkout (development):
+
+```bash
+.venv/bin/pip install -e interface/python/hyperdrone
+```
+
+From an sdist (self-contained — bundles the rl-tools headers and raytracing sources, no
+checkout needed):
+
+```bash
+pip install hyperdrone-<version>.tar.gz
+```
+
+Install the dependencies used by the packaged examples with:
+
+```bash
+pip install "hyperdrone[examples]"
+```
+
+Requirements: CMake >= 3.24, a C++17 compiler, and per feature: assimp (system package)
+for GLB loading, CUDA + OptiX driver for the OptiX render backend and cuda dynamics,
+Vulkan dev + glslang for the VULKAN backend. The WEBGPU backend fetches a hash-pinned
+wgpu-native prebuilt at first build (no extra system packages). Nothing beyond the
+compiler for GENERIC + cpu.
+
+## Environment
+
+| Variable | Meaning |
+|---|---|
+| `HYPERDRONE_RENDER_BACKEND` | `OPTIX` \| `METAL` \| `VULKAN` \| `WEBGPU` \| `GENERIC` \| `AUTO` (default: Metal on macOS, OptiX elsewhere) |
+| `HYPERDRONE_DYNAMICS_DEVICE` | `CPU` \| `CUDA` \| `AUTO` (default: cuda when available) |
+| `HYPERDRONE_CACHE_DIR` | root for CMake build trees and downloaded build dependencies (default `~/.cache/hyperdrone`) |
+| `HYPERDRONE_RLTOOLS_ROOT` | rl-tools source root override (default: enclosing checkout, else the vendored tree) |
+| `HYPERDRONE_PROCTHOR_PATH` | local ProcTHOR example scene override (otherwise downloaded and cached) |
+| `HYPERDRONE_SKIP_BUILD` | skip the CMake staleness check when the artifacts already exist |
+| `HYPERDRONE_OFFLINE` | forbid network during builds (requires seeded/vendored dependencies) |
+| `HYPERDRONE_BUILD_JOBS` | parallel build jobs (default 5) |
+
+Each component and variant gets its own build tree (`render-optix-*`, `dynamics-cuda-*`,
+...); switching never invalidates another's cache. All configure/build steps run under a
+per-tree file lock, so many worker processes can share one cache safely. CMake
+FetchContent sources and native build state live in `<cache>/.dependencies`; the native
+build does not write generated files into an editable checkout or installed package.
+
+Whenever a renderer is successfully allocated, RLtools reports the selected backend on
+stderr, for example `#rl_tools::rendering::raytracing: backend=metal`. The
+`Renderer.backend` property provides the same lowercase name programmatically.
+
+## Rendering
+
+```python
+import math, numpy as np
+from hyperdrone import render
+from hyperdrone.examples.data import procthor_scene_path
+
+scene = render.load_scene(procthor_scene_path(), fidelity="high")
+
+renderer = render.Renderer(width=320, height=240, num_cameras=4, output="rgbd", fidelity="high")
+renderer.init(scene)
+
+camera = renderer.camera(position=(0, 0, 1.5), look_at=(1, 0, 1.5), fov=math.radians(80))
+renderer.set_cameras(np.repeat(camera[None], 4, axis=0))
+renderer.render()
+
+rgb   = renderer.frame()    # (4, 240, 320, 4) uint8
+depth = renderer.depth()    # (4, 240, 320) float32
+```
+
+The renderer operates in the L2F FLU frame: +X forward, +Y left, +Z up; GLB assets are
+swizzled at load time. Procedural scenes (`render.Scene()` + `render.Object` /
+`render.Mesh` / `render.SceneLight`), segmentation output, overlays (per-camera dynamic
+content via `AssetPool` + `spawn`/`attach`), motion blur, and anti-aliasing follow the
+same API as before under `hyperdrone.render.*`.
+
+`num_probes` sizes the collision-probe pass (`generate_probe_directions()`, `render("collision")`, `collisions()`; one probe per camera by default). `num_probes=0` compiles that pass out entirely, the counterpart of the probe-ray macro the C++ benchmark targets set: no probe buffers are allocated, the default `render()` target runs only the image channels, and the probe methods raise.
+
+### Zero-copy I/O (DLPack)
+
+```python
+renderer.frame()                  # snapshot copy (safe to keep)
+renderer.frame(copy=False)        # numpy view of the staging buffer (refreshed in place)
+rgba = torch.from_dlpack(renderer.frame_dlpack())
+# live uint8 (num_cameras, height, width, 4), zero-copy GPU tensor on OptiX
+packed = torch.from_dlpack(renderer.frame_raw_dlpack())
+# same memory as packed uint32 (num_cameras, height, width)
+```
+
+Inputs accept any DLPack producer. CUDA-resident camera input (OptiX):
+`set_cameras` dispatches on `__dlpack_device__`, so a CUDA tensor — a torch GPU tensor,
+a set pre-uploaded with `hyperdrone.cuda.upload`, or `Sim.camera_bases()` — is handed
+over device-to-device on the render stream, fully async; `stream=` takes the producer's
+cudaStream_t handle for event-ordered hand-off.
+
+## Dynamics
+
+```python
+from hyperdrone import dynamics
+
+sim = dynamics.Sim(num_drones=4096, model="x500_sim", device="cuda")
+sim.reset(seed=0)                     # deterministic; host-sampled, identical on cpu/cuda
+sim.step(actions)                     # (N, 4) float32 in [-1, 1], host or CUDA tensor
+sim.state["position"]                 # zero-copy DLPack views, CUDA-resident on cuda
+sim.state.numpy("position")           # host copy
+sim.observe()                         # (N, 18): position, rotation matrix, velocities
+sim.parameters["mass"] = masses       # per-drone runtime parameters (until the next reset)
+
+cameras = sim.camera_bases(fov=math.radians(100), aspect=renderer.aspect)
+renderer.set_cameras(cameras, stream=sim.stream)   # device-resident hand-off
+```
+
+`num_drones` and domain randomization are compile-time (the JIT key); the model preset
+(`crazyflie`, `x500_real`, `x500_sim`, `mrs`, ...), integration `dt`, and all physical
+parameters are runtime. Reward and termination live in the
+environment (`hyperdrone.env`), not the simulator. One process can use one dynamics
+variant (cpu or cuda).
+
+## RL environment
+
+```python
+import numpy as np
+from hyperdrone.env import EnvConfig, MultiEnvironment
+
+config = EnvConfig(num_environments=1, instances=1024, cam_width=32, cam_height=32, task="target_frame")
+env = MultiEnvironment("scenes/", config=config, seed=0)
+
+mask = np.ones(env.total_instances, dtype=np.uint8)
+env.reset(mask)                    # resample parameters + states where mask is set
+env.render(mask)                   # render the FPV cameras (mask marks fresh episodes)
+observations = env.observe()       # (total, observation_dim) float32
+env.step(actions)                  # (total, action_dim) float32 in [-1, 1]
+rewards, terminated = env.rewards(), env.terminated()
+critic_input = env.observe_privileged()
+env.rotate_scene()                 # deterministic scene rotation; reset all instances after
+env.observation_layout             # named blocks: which channels/values mean what
+```
+
+`reset(mask)` samples parameters and states immediately. `observe()` renders as needed,
+so explicit `render(mask)` calls are optional. The training loop owns episode counters and
+chooses when to reset; the Gymnasium adapter below supplies same-step autoreset and time limits.
+
+All environment semantics — reset, reward, termination, scene scheduling, observation
+composition — live on the C++ side (`rl_tools::rl::environments::hyperdrone::MultiEnvironment<World>`);
+the binding marshals tensors and nothing else, and a seeded rollout is pinned bit-exact
+against the C++ verbs by a golden test. The scenes argument is a directory of `.glb`
+scenes (sorted corpus) or a list of references — `.glb` paths, `conta:HASH` strings, or
+conta store manifest entries `{"description": ..., "hash": ...}` — used as the corpus in
+list order and partitioned across environments; conta references (scenes, `drone_asset=`,
+`gate_asset=`) resolve through `hyperdrone.conta` into the shared content-addressed
+cache, so a config pins the exact corpus on any machine. Configuration follows the C++
+extension ladder:
+`preset=` names the platform (`"crazyflie"`, `"x500_fpv"` — SELF_VISIBLE, pass a
+body/prop_* GLB via `drone_asset=` — and `"x500_fpv_imu"`, the same platform stepping at
+IMU rate), `task=` names the wrapper (`"target_frame"`, `"moving_gate"`,
+`"visual_inertial_localization"`), `n_agents=` enables multi-agent, and `EnvConfig(spec_header=...)` pins
+an arbitrary C++ specification (a header defining `hyperdrone_env_user::WORLD`, hashed
+into the JIT key). A spec header can go beyond constants to a full user-authored task
+wrapper — verb overloads registering and moving entities, compiled reward, termination:
+`hyperdrone/examples/Orbiter.ipynb` walks through one, and its contract is pinned by
+`tests/env/user_task_header.h`. The render backend for the environment follows
+`HYPERDRONE_ENV_BACKEND` (default: the render backend selection).
+
+Manual composition of `Sim` and `Renderer` (no MDP — rendering research, data
+generation) remains first-class: see `python -m hyperdrone.examples.drone_flythrough`
+for the wiring. `FreeSpaceSampler` lives in `hyperdrone.render` — it rides the
+renderer's collision probes and is deterministic given a seed.
+
+### Visual-inertial localization
+
+`task="visual_inertial_localization"` on `preset="x500_fpv_imu"` is the localization
+benchmark: fixed-length synchronized episodes stepping at IMU rate (`env.dt`), a camera
+frame every `env.frame_stride` steps, and the IMU sample of each step from
+`env.observe_imu()` (named by `env.observation_layout_imu`: accelerometer, gyroscope,
+frame age, new-frame flag). The task is autonomous: the RAPTOR autopilot built into it
+flies a waypoint route (its checkpoint is pinned by content hash and fetched through
+conta on first use), so `action_dim` is 0 and `step()` takes no actions. The privileged
+observation carries the current `waypoint` next to the dynamics state; the drone's own
+body is not rendered, matching the C++ benchmark harness. Resets must be all-or-none per
+environment.
+
+```python
+config = EnvConfig(instances=2, cam_width=160, cam_height=120, preset="x500_fpv_imu", task="visual_inertial_localization")
+env = MultiEnvironment(scenes, config=config, seed=0)
+env.reset(); env.render(np.ones(env.total_instances, dtype=np.uint8))
+for step in range(env.episode_step_limit):
+    if step > 0: env.render()
+    if step % env.frame_stride == 0:
+        frames = env.frames()          # the estimator's camera frame
+    env.step()
+    imu = env.observe_imu()            # the estimator's IMU sample for this step
+    truth = env.observe_privileged()   # position / rotation matrix / velocities / waypoint
+```
+
+`python -m hyperdrone.examples.visual_inertial_localization` runs an episode and scores
+IMU dead reckoning against the ground truth, the same protocol as the C++ demo.
+
+### Gymnasium
+
+```python
+from hyperdrone.gym import VectorEnv   # pip install "hyperdrone[gym]"
+env = VectorEnv("scenes/", config=EnvConfig(instances=1024), seed=0)
+observations, infos = env.reset()
+observations, rewards, terminations, truncations, infos = env.step(actions)
+```
+
+The adapter resets instances that terminate or reach `episode_step_limit` within the same
+step. Returned observations start the new episode for those instances; no final observation
+is exposed. `truncations` flags time limits that are not terminations. The core packages
+never import gymnasium.
+
+End-to-end example: `python -m hyperdrone.examples.drone_flythrough`; renderer benchmark:
+`python -m hyperdrone.examples.benchmark` (flag-compatible with the C++ benchmark
+counterpart).
+
+## Publishing
+
+From the repository root, build and upload a release with:
+
+```bash
+interface/python/hyperdrone/scripts/publish.sh
+```
+
+Set the release version in `pyproject.toml` and `hyperdrone/__init__.py` first. The
+script uses the repository's `.venv` (creating it if needed), installs the build and
+upload tools, builds a bundled source archive and a `py3-none-any` wheel from that
+archive, checks both with Twine, and uploads both to PyPI. Authenticate through your
+existing Twine configuration (`~/.pypirc`, keyring, or `TWINE_PASSWORD`), or enter a
+PyPI API token when prompted.
+
+Use `interface/python/hyperdrone/scripts/publish.sh --build-only` to build and check
+without uploading. Each run keeps its two artifacts in a fresh
+`interface/python/hyperdrone/dist/release.*` directory, so older builds are never
+included in an upload. Native components remain JIT-compiled on first use.
+
+## Tests
+
+```bash
+HYPERDRONE_RENDER_BACKEND=GENERIC .venv/bin/python -m pytest interface/python/hyperdrone/tests -v
+```
+
+`tests/jit` exercises the build infrastructure against a toy component in seconds;
+`tests/test_architecture.py` enforces the import DAG (render and dynamics never see each
+other); `scripts/test_sdist.sh` is the self-containment rot guard (build sdist → clean
+venv → vendored-tree render).

hyperdrone-0.1.5/README.md

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+# hyperdrone
+
+Drone simulation stack for RLtools: raytracing renderer, L2F multirotor dynamics, and
+environment setup under one Python package.
+
+| Subpackage | What it is |
+|---|---|
+| `hyperdrone.render` | Raytracing renderer (OptiX / Metal / Vulkan / generic CPU). Self-contained — no dependency on drone dynamics. |
+| `hyperdrone.dynamics` | Vectorized, stateful L2F multirotor simulator (`Sim`); cpu and cuda variants. |
+| `hyperdrone.env` | The RL environment: the C++ `MultiEnvironment<hyperdrone::World>` driven through the exact rl_tools batch verbs. |
+| `hyperdrone.gym` | Optional Gymnasium `VectorEnv` adapter over `hyperdrone.env` (`pip install "hyperdrone[gym]"`). |
+| `hyperdrone.jit` | Shared compile-and-cache infrastructure both domain packages build on. |
+| `hyperdrone.cuda` | CUDA staging helpers (`upload` → DLPack tensor sets). |
+| `hyperdrone.conta` | Client for the sha1 content-addressed asset store — protocol twin of the C++ `include/conta/conta.h`, sharing one cache across both languages. |
+
+Native components are JIT-compiled per set of compile-time constants (resolution, camera
+count, drone count, ...) into a persistent cache; later uses load the cached library
+directly. `render` and `dynamics` are peers that never import each other — the coupling
+surface is a plain DLPack tensor of packed camera bases, device-resident on OptiX + CUDA.
+
+## Notebooks
+
+| Notebook | Open in Colab |
+|---|---|
+| [HyperDrone](hyperdrone/examples/HyperDrone.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/HyperDrone.ipynb#scrollTo=g-cDv8bdN7j9) |
+| [Benchmark](hyperdrone/examples/Benchmark.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/Benchmark.ipynb) |
+| [Custom](hyperdrone/examples/Custom.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/Custom.ipynb) |
+| [Orbiter](hyperdrone/examples/Orbiter.ipynb) | [![Open in Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/rl-tools/rl-tools-internal/blob/render/interface/python/hyperdrone/hyperdrone/examples/Orbiter.ipynb) |
+
+## Install
+
+From an rl-tools checkout (development):
+
+```bash
+.venv/bin/pip install -e interface/python/hyperdrone
+```
+
+From an sdist (self-contained — bundles the rl-tools headers and raytracing sources, no
+checkout needed):
+
+```bash
+pip install hyperdrone-<version>.tar.gz
+```
+
+Install the dependencies used by the packaged examples with:
+
+```bash
+pip install "hyperdrone[examples]"
+```
+
+Requirements: CMake >= 3.24, a C++17 compiler, and per feature: assimp (system package)
+for GLB loading, CUDA + OptiX driver for the OptiX render backend and cuda dynamics,
+Vulkan dev + glslang for the VULKAN backend. The WEBGPU backend fetches a hash-pinned
+wgpu-native prebuilt at first build (no extra system packages). Nothing beyond the
+compiler for GENERIC + cpu.
+
+## Environment
+
+| Variable | Meaning |
+|---|---|
+| `HYPERDRONE_RENDER_BACKEND` | `OPTIX` \| `METAL` \| `VULKAN` \| `WEBGPU` \| `GENERIC` \| `AUTO` (default: Metal on macOS, OptiX elsewhere) |
+| `HYPERDRONE_DYNAMICS_DEVICE` | `CPU` \| `CUDA` \| `AUTO` (default: cuda when available) |
+| `HYPERDRONE_CACHE_DIR` | root for CMake build trees and downloaded build dependencies (default `~/.cache/hyperdrone`) |
+| `HYPERDRONE_RLTOOLS_ROOT` | rl-tools source root override (default: enclosing checkout, else the vendored tree) |
+| `HYPERDRONE_PROCTHOR_PATH` | local ProcTHOR example scene override (otherwise downloaded and cached) |
+| `HYPERDRONE_SKIP_BUILD` | skip the CMake staleness check when the artifacts already exist |
+| `HYPERDRONE_OFFLINE` | forbid network during builds (requires seeded/vendored dependencies) |
+| `HYPERDRONE_BUILD_JOBS` | parallel build jobs (default 5) |
+
+Each component and variant gets its own build tree (`render-optix-*`, `dynamics-cuda-*`,
+...); switching never invalidates another's cache. All configure/build steps run under a
+per-tree file lock, so many worker processes can share one cache safely. CMake
+FetchContent sources and native build state live in `<cache>/.dependencies`; the native
+build does not write generated files into an editable checkout or installed package.
+
+Whenever a renderer is successfully allocated, RLtools reports the selected backend on
+stderr, for example `#rl_tools::rendering::raytracing: backend=metal`. The
+`Renderer.backend` property provides the same lowercase name programmatically.
+
+## Rendering
+
+```python
+import math, numpy as np
+from hyperdrone import render
+from hyperdrone.examples.data import procthor_scene_path
+
+scene = render.load_scene(procthor_scene_path(), fidelity="high")
+
+renderer = render.Renderer(width=320, height=240, num_cameras=4, output="rgbd", fidelity="high")
+renderer.init(scene)
+
+camera = renderer.camera(position=(0, 0, 1.5), look_at=(1, 0, 1.5), fov=math.radians(80))
+renderer.set_cameras(np.repeat(camera[None], 4, axis=0))
+renderer.render()
+
+rgb   = renderer.frame()    # (4, 240, 320, 4) uint8
+depth = renderer.depth()    # (4, 240, 320) float32
+```
+
+The renderer operates in the L2F FLU frame: +X forward, +Y left, +Z up; GLB assets are
+swizzled at load time. Procedural scenes (`render.Scene()` + `render.Object` /
+`render.Mesh` / `render.SceneLight`), segmentation output, overlays (per-camera dynamic
+content via `AssetPool` + `spawn`/`attach`), motion blur, and anti-aliasing follow the
+same API as before under `hyperdrone.render.*`.
+
+`num_probes` sizes the collision-probe pass (`generate_probe_directions()`, `render("collision")`, `collisions()`; one probe per camera by default). `num_probes=0` compiles that pass out entirely, the counterpart of the probe-ray macro the C++ benchmark targets set: no probe buffers are allocated, the default `render()` target runs only the image channels, and the probe methods raise.
+
+### Zero-copy I/O (DLPack)
+
+```python
+renderer.frame()                  # snapshot copy (safe to keep)
+renderer.frame(copy=False)        # numpy view of the staging buffer (refreshed in place)
+rgba = torch.from_dlpack(renderer.frame_dlpack())
+# live uint8 (num_cameras, height, width, 4), zero-copy GPU tensor on OptiX
+packed = torch.from_dlpack(renderer.frame_raw_dlpack())
+# same memory as packed uint32 (num_cameras, height, width)
+```
+
+Inputs accept any DLPack producer. CUDA-resident camera input (OptiX):
+`set_cameras` dispatches on `__dlpack_device__`, so a CUDA tensor — a torch GPU tensor,
+a set pre-uploaded with `hyperdrone.cuda.upload`, or `Sim.camera_bases()` — is handed
+over device-to-device on the render stream, fully async; `stream=` takes the producer's
+cudaStream_t handle for event-ordered hand-off.
+
+## Dynamics
+
+```python
+from hyperdrone import dynamics
+
+sim = dynamics.Sim(num_drones=4096, model="x500_sim", device="cuda")
+sim.reset(seed=0)                     # deterministic; host-sampled, identical on cpu/cuda
+sim.step(actions)                     # (N, 4) float32 in [-1, 1], host or CUDA tensor
+sim.state["position"]                 # zero-copy DLPack views, CUDA-resident on cuda
+sim.state.numpy("position")           # host copy
+sim.observe()                         # (N, 18): position, rotation matrix, velocities
+sim.parameters["mass"] = masses       # per-drone runtime parameters (until the next reset)
+
+cameras = sim.camera_bases(fov=math.radians(100), aspect=renderer.aspect)
+renderer.set_cameras(cameras, stream=sim.stream)   # device-resident hand-off
+```
+
+`num_drones` and domain randomization are compile-time (the JIT key); the model preset
+(`crazyflie`, `x500_real`, `x500_sim`, `mrs`, ...), integration `dt`, and all physical
+parameters are runtime. Reward and termination live in the
+environment (`hyperdrone.env`), not the simulator. One process can use one dynamics
+variant (cpu or cuda).
+
+## RL environment
+
+```python
+import numpy as np
+from hyperdrone.env import EnvConfig, MultiEnvironment
+
+config = EnvConfig(num_environments=1, instances=1024, cam_width=32, cam_height=32, task="target_frame")
+env = MultiEnvironment("scenes/", config=config, seed=0)
+
+mask = np.ones(env.total_instances, dtype=np.uint8)
+env.reset(mask)                    # resample parameters + states where mask is set
+env.render(mask)                   # render the FPV cameras (mask marks fresh episodes)
+observations = env.observe()       # (total, observation_dim) float32
+env.step(actions)                  # (total, action_dim) float32 in [-1, 1]
+rewards, terminated = env.rewards(), env.terminated()
+critic_input = env.observe_privileged()
+env.rotate_scene()                 # deterministic scene rotation; reset all instances after
+env.observation_layout             # named blocks: which channels/values mean what
+```
+
+`reset(mask)` samples parameters and states immediately. `observe()` renders as needed,
+so explicit `render(mask)` calls are optional. The training loop owns episode counters and
+chooses when to reset; the Gymnasium adapter below supplies same-step autoreset and time limits.
+
+All environment semantics — reset, reward, termination, scene scheduling, observation
+composition — live on the C++ side (`rl_tools::rl::environments::hyperdrone::MultiEnvironment<World>`);
+the binding marshals tensors and nothing else, and a seeded rollout is pinned bit-exact
+against the C++ verbs by a golden test. The scenes argument is a directory of `.glb`
+scenes (sorted corpus) or a list of references — `.glb` paths, `conta:HASH` strings, or
+conta store manifest entries `{"description": ..., "hash": ...}` — used as the corpus in
+list order and partitioned across environments; conta references (scenes, `drone_asset=`,
+`gate_asset=`) resolve through `hyperdrone.conta` into the shared content-addressed
+cache, so a config pins the exact corpus on any machine. Configuration follows the C++
+extension ladder:
+`preset=` names the platform (`"crazyflie"`, `"x500_fpv"` — SELF_VISIBLE, pass a
+body/prop_* GLB via `drone_asset=` — and `"x500_fpv_imu"`, the same platform stepping at
+IMU rate), `task=` names the wrapper (`"target_frame"`, `"moving_gate"`,
+`"visual_inertial_localization"`), `n_agents=` enables multi-agent, and `EnvConfig(spec_header=...)` pins
+an arbitrary C++ specification (a header defining `hyperdrone_env_user::WORLD`, hashed
+into the JIT key). A spec header can go beyond constants to a full user-authored task
+wrapper — verb overloads registering and moving entities, compiled reward, termination:
+`hyperdrone/examples/Orbiter.ipynb` walks through one, and its contract is pinned by
+`tests/env/user_task_header.h`. The render backend for the environment follows
+`HYPERDRONE_ENV_BACKEND` (default: the render backend selection).
+
+Manual composition of `Sim` and `Renderer` (no MDP — rendering research, data
+generation) remains first-class: see `python -m hyperdrone.examples.drone_flythrough`
+for the wiring. `FreeSpaceSampler` lives in `hyperdrone.render` — it rides the
+renderer's collision probes and is deterministic given a seed.
+
+### Visual-inertial localization
+
+`task="visual_inertial_localization"` on `preset="x500_fpv_imu"` is the localization
+benchmark: fixed-length synchronized episodes stepping at IMU rate (`env.dt`), a camera
+frame every `env.frame_stride` steps, and the IMU sample of each step from
+`env.observe_imu()` (named by `env.observation_layout_imu`: accelerometer, gyroscope,
+frame age, new-frame flag). The task is autonomous: the RAPTOR autopilot built into it
+flies a waypoint route (its checkpoint is pinned by content hash and fetched through
+conta on first use), so `action_dim` is 0 and `step()` takes no actions. The privileged
+observation carries the current `waypoint` next to the dynamics state; the drone's own
+body is not rendered, matching the C++ benchmark harness. Resets must be all-or-none per
+environment.
+
+```python
+config = EnvConfig(instances=2, cam_width=160, cam_height=120, preset="x500_fpv_imu", task="visual_inertial_localization")
+env = MultiEnvironment(scenes, config=config, seed=0)
+env.reset(); env.render(np.ones(env.total_instances, dtype=np.uint8))
+for step in range(env.episode_step_limit):
+    if step > 0: env.render()
+    if step % env.frame_stride == 0:
+        frames = env.frames()          # the estimator's camera frame
+    env.step()
+    imu = env.observe_imu()            # the estimator's IMU sample for this step
+    truth = env.observe_privileged()   # position / rotation matrix / velocities / waypoint
+```
+
+`python -m hyperdrone.examples.visual_inertial_localization` runs an episode and scores
+IMU dead reckoning against the ground truth, the same protocol as the C++ demo.
+
+### Gymnasium
+
+```python
+from hyperdrone.gym import VectorEnv   # pip install "hyperdrone[gym]"
+env = VectorEnv("scenes/", config=EnvConfig(instances=1024), seed=0)
+observations, infos = env.reset()
+observations, rewards, terminations, truncations, infos = env.step(actions)
+```
+
+The adapter resets instances that terminate or reach `episode_step_limit` within the same
+step. Returned observations start the new episode for those instances; no final observation
+is exposed. `truncations` flags time limits that are not terminations. The core packages
+never import gymnasium.
+
+End-to-end example: `python -m hyperdrone.examples.drone_flythrough`; renderer benchmark:
+`python -m hyperdrone.examples.benchmark` (flag-compatible with the C++ benchmark
+counterpart).
+
+## Publishing
+
+From the repository root, build and upload a release with:
+
+```bash
+interface/python/hyperdrone/scripts/publish.sh
+```
+
+Set the release version in `pyproject.toml` and `hyperdrone/__init__.py` first. The
+script uses the repository's `.venv` (creating it if needed), installs the build and
+upload tools, builds a bundled source archive and a `py3-none-any` wheel from that
+archive, checks both with Twine, and uploads both to PyPI. Authenticate through your
+existing Twine configuration (`~/.pypirc`, keyring, or `TWINE_PASSWORD`), or enter a
+PyPI API token when prompted.
+
+Use `interface/python/hyperdrone/scripts/publish.sh --build-only` to build and check
+without uploading. Each run keeps its two artifacts in a fresh
+`interface/python/hyperdrone/dist/release.*` directory, so older builds are never
+included in an upload. Native components remain JIT-compiled on first use.
+
+## Tests
+
+```bash
+HYPERDRONE_RENDER_BACKEND=GENERIC .venv/bin/python -m pytest interface/python/hyperdrone/tests -v
+```
+
+`tests/jit` exercises the build infrastructure against a toy component in seconds;
+`tests/test_architecture.py` enforces the import DAG (render and dynamics never see each
+other); `scripts/test_sdist.sh` is the self-containment rot guard (build sdist → clean
+venv → vendored-tree render).

hyperdrone-0.1.5/hatch_build.py

@@ -0,0 +1,39 @@
+"""sdist self-containment: snapshot the required subset of the rl-tools repository into
+hyperdrone/_vendor/rl-tools so `pip install hyperdrone` works without a checkout. The
+manifest is explicit — never "copy everything". Wheels built directly from a checkout skip
+vendoring (they are for local use where the checkout exists); release wheels are built
+from the sdist, where the vendored tree is already on disk."""
+from pathlib import Path
+
+from hatchling.builders.hooks.plugin.interface import BuildHookInterface
+
+VENDOR_MANIFEST = (
+    "include/rl_tools",
+    "include/conta",
+    "src/rendering/raytracing",
+    "CMakeLists.txt",
+    "cmake",
+    "LICENSE",
+)
+
+
+class VendorRlToolsHook(BuildHookInterface):
+    def initialize(self, version, build_data):
+        if self.target_name != "sdist":
+            return
+        repository = self._repository_root()
+        if repository is None:
+            return  # building from an sdist: the vendored tree is already in place
+        force_include = build_data.setdefault("force_include", {})
+        for entry in VENDOR_MANIFEST:
+            source = repository / entry
+            if source.exists():
+                force_include[str(source)] = f"hyperdrone/_vendor/rl-tools/{entry}"
+
+    def _repository_root(self):
+        candidate = Path(self.root)
+        for _ in range(8):
+            if (candidate / "include" / "rl_tools").is_dir():
+                return candidate
+            candidate = candidate.parent
+        return None

hyperdrone-0.1.5/hyperdrone/__init__.py

@@ -0,0 +1,31 @@
+"""hyperdrone — drone simulation stack for RLtools.
+
+Subpackages:
+  hyperdrone.render   — raytracing renderer (self-contained, no drone dynamics)
+  hyperdrone.dynamics — L2F multirotor simulator (vectorized, stateful Sim; pure dynamics)
+  hyperdrone.env      — the RL environment: the C++ MultiEnvironment behind the batch verbs
+  hyperdrone.gym      — optional Gymnasium VectorEnv adapter (pip install "hyperdrone[gym]")
+  hyperdrone.jit      — shared compile-and-cache infrastructure
+  hyperdrone.cuda     — CUDA staging helpers (DLPack tensor sets)
+
+The three domain packages are independent: render and dynamics couple only through a
+DLPack tensor of camera bases; env owns no Python-side semantics — it drives the C++
+environment. Native components are JIT-compiled per set of compile-time constants and
+cached under ~/.cache/hyperdrone (override with HYPERDRONE_CACHE_DIR). Importing
+hyperdrone (or any subpackage) is cheap; the first build happens on first use.
+"""
+import importlib
+
+__version__ = "0.1.5"
+
+_SUBPACKAGES = ("render", "dynamics", "env", "gym", "jit", "cuda")
+
+
+def __getattr__(name):
+    if name in _SUBPACKAGES:
+        return importlib.import_module(f".{name}", __name__)
+    raise AttributeError(f"module 'hyperdrone' has no attribute {name}")
+
+
+def __dir__():
+    return sorted(list(globals()) + list(_SUBPACKAGES))