miniverse-sdk 0.2.0__tar.gz

miniverse_sdk-0.2.0/LICENSE

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miniverse_sdk-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: miniverse-sdk
+Version: 0.2.0
+Summary: Validate and upload Dollhouse Robotics Miniverse simulation bundles.
+Author: Dollhouse Robotics
+License-Expression: Apache-2.0
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Console
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3 :: Only
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: jsonschema<5,>=4.23
+Requires-Dist: keyring<26,>=25
+Requires-Dist: onnx<2,>=1.17
+Dynamic: license-file
+
+# Miniverse SDK
+
+The `miniverse-sdk` distribution installs the `miniverse` command for validating
+and uploading immutable `.dhsim` simulation bundles.
+
+```bash
+uv tool install miniverse-sdk
+miniverse agent-help
+```
+
+Use `MINIVERSE_API_TOKEN` for CI authentication, or run `miniverse auth login`
+once for interactive device authorization. Interactive access and refresh
+tokens are stored in a user-only file and renewed automatically. On ephemeral
+Linux agents, persist `$XDG_STATE_HOME/miniverse` (or `~/.local/state/miniverse`).
+Upgrades from a pre-0.2 keyring login require one new `miniverse auth login`;
+the CLI does not migrate the old access-token-only credential.

miniverse_sdk-0.2.0/README.md

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+# Miniverse SDK
+
+The `miniverse-sdk` distribution installs the `miniverse` command for validating
+and uploading immutable `.dhsim` simulation bundles.
+
+```bash
+uv tool install miniverse-sdk
+miniverse agent-help
+```
+
+Use `MINIVERSE_API_TOKEN` for CI authentication, or run `miniverse auth login`
+once for interactive device authorization. Interactive access and refresh
+tokens are stored in a user-only file and renewed automatically. On ephemeral
+Linux agents, persist `$XDG_STATE_HOME/miniverse` (or `~/.local/state/miniverse`).
+Upgrades from a pre-0.2 keyring login require one new `miniverse auth login`;
+the CLI does not migrate the old access-token-only credential.

miniverse_sdk-0.2.0/pyproject.toml

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+[build-system]
+requires = ["setuptools>=69"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "miniverse-sdk"
+version = "0.2.0"
+description = "Validate and upload Dollhouse Robotics Miniverse simulation bundles."
+readme = "README.md"
+requires-python = ">=3.10"
+dependencies = [
+  "jsonschema>=4.23,<5",
+  "keyring>=25,<26",
+  "onnx>=1.17,<2",
+]
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+authors = [{ name = "Dollhouse Robotics" }]
+classifiers = [
+  "Development Status :: 3 - Alpha",
+  "Environment :: Console",
+  "Programming Language :: Python :: 3",
+  "Programming Language :: Python :: 3 :: Only",
+]
+
+[project.scripts]
+miniverse = "miniverse_sdk.cli:main"
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.setuptools.package-data]
+miniverse_sdk = ["agent_help/*.md", "schemas/*.json"]

miniverse_sdk-0.2.0/setup.cfg

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+[egg_info]
+tag_build = 
+tag_date = 0
+

miniverse_sdk-0.2.0/src/miniverse_sdk/__init__.py

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+"""Public package metadata for the Miniverse CLI."""
+
+__version__ = "0.2.0"

miniverse_sdk-0.2.0/src/miniverse_sdk/__main__.py

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+from .cli import main
+
+raise SystemExit(main())

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/__init__.py

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+"""Versioned agent instructions bundled with miniverse-sdk."""

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/auth.md

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+# Authentication
+
+For CI or another non-interactive environment, provide the token only through
+the environment:
+
+```bash
+MINIVERSE_API_TOKEN=... miniverse bundle upload PATH.dhsim --json
+```
+
+Do not pass a token as an argument, write it into repository files, or include
+it in logs. `MINIVERSE_API_TOKEN` takes precedence over an OAuth credential.
+
+For a person at a terminal, run `miniverse auth login` once. Complete the
+displayed device authorization in the browser. The CLI stores the renewable
+OAuth grant in a user-only file and refreshes it automatically, including after
+an API response reports that the access token expired.
+
+On Linux the default is `$XDG_STATE_HOME/miniverse/auth.json`, or
+`~/.local/state/miniverse/auth.json` when `XDG_STATE_HOME` is unset. Set
+`MINIVERSE_HOME` to put `auth.json` in a different persistent directory. An
+ephemeral agent or container must mount that directory across runs.
+
+The renewable credential format is a hard cutover. A pre-0.2 keyring login is
+not read, copied, or deleted; run `miniverse auth login` once after upgrading.
+
+Inspect only non-secret metadata with `miniverse auth status`. Run
+`miniverse auth logout` to remove the local OAuth credential and attempt
+server-side revocation; local removal still succeeds if revocation is
+unavailable. To opt back into an available desktop credential service, set
+`MINIVERSE_AUTH_STORE=keyring`.

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/bundles.md

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+# Bundle validation
+
+A `.dhsim` archive contains exactly `bundle.json`, `policy.py`, mandatory
+`embodiment/mjcf.zip`, and one or more `models/<id>.onnx` files. Do not put a
+`scene`, `seed`, `robot`, `visual`, `primaryModel`, model providers,
+or model loading policy in `bundle.json`.
+
+The Python controller declares
+its physics/policy/publication timing, owns randomness, sees all models through
+`context.models`, constructs all inputs from `PolicyStep.sim_data`, and returns
+physical actuation in canonical MJCF actuator order. Optional `metadata` is a
+freeform JSON object and has no execution semantics.
+
+For a policy-specific spawn/reset, define `initial_state()` on the controller
+and return `ControllerInitialState` with the canonical root body ID, a
+world-frame position, and an XYZW unit quaternion. Do not put reset state in
+`bundle.json`; without the hook Miniverse uses the MJCF's compiled default pose.
+Miniverse also derives rendering-only visuals from the included MJCF and
+`embodiment.appearance.geometry`; do not include visual bytes yourself.
+MJCF geoms may be both visible and collision-active. Authors can add
+physics-neutral custom visuals with `contype="0" conaffinity="0" mass="0"`
+without changing the bundle schema or simulation dynamics. Author visual `pos`,
+`quat`, and `fromto` values in the MJCF source frame.
+
+Author actuator gains, control/force ranges, and Miniverse's namespaced
+actuator velocity-limit numeric directly in `embodiment/mjcf.zip`. Use
+`embodiment.bodyDynamicsOverrides` only for exact named-body linear/angular
+damping and maximum linear/angular velocity. Unsupported backends produce a
+descriptive runtime error.
+
+Each ONNX checkpoint must be self-contained and embed all Miniverse policy
+metadata in
+`com.dollhouserobotics.miniverse.simulation_contract`. Do not create an
+adjacent JSON manifest. The embedded contract must include:
+
+- complete model tensor shapes and dtypes;
+- model outputs consumed explicitly by controller code;
+- `precision: fp32 | fp16 | bf16`.
+
+Precision is the requested Miniverse inference/compiler precision; it does not
+assert that every tensor in the ONNX graph has that dtype. Missing and unknown
+precision values are rejected. Exporters using
+`miniverse.contracts.embed_onnx_contract` should pass
+`{"schemaVersion": "0.3", "precision": "fp16", ...}`.
+
+Run `miniverse bundle validate PATH.dhsim --json` before upload. Local validation
+checks the archive structure, normative manifest, ONNX graph and embedded
+contract, hashes, tensor mappings, fixed batch-one shapes, simulator support,
+and statically knowable compatibility. It returns `errors`, `warnings`, and a
+per-model result. Errors always produce exit status 2. Optimization warnings
+produce exit status 0 unless `--strict` promotes them to errors. Server import
+repeats validation over the uploaded bytes and remains authoritative for
+embodiment/scene preprocessing and genuine backend execution. Treat an uploaded
+bundle as immutable and preserve simulator profile, model, embodiment,
+coordinate-frame, and actuator-order identities.
+
+Validation also statically scans each ONNX graph for TensorRT builder limits
+and reports them in `warnings` (for example `tensorrt_topk_k_limit`: TopK `K`
+must be at most 3840, and a full sort lowers to TopK over the entire axis).
+Warning findings do not invalidate a bundle — the ONNX Runtime fallback still
+executes it — but Miniverse cannot derive TensorRT or TensorRT-RTX artifacts
+until they are fixed, so re-export the checkpoint before uploading. Error
+findings always invalidate the bundle. Pass `--strict` to promote optimization
+warnings to errors. To validate a checkpoint during export iteration,
+before it is zipped into a bundle, run:
+
+```bash
+miniverse model validate PATH.onnx --json
+```
+
+ONNX is the developer-facing checkpoint submission artifact. Developers do not
+build or upload TensorRT, TensorRT-RTX, plan, or runtime-cache files; Miniverse
+derives and invalidates those artifacts internally.

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/index.md

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+# Miniverse agent guide
+
+You are using `miniverse-sdk` 0.2.0. Miniverse is Dollhouse Robotics'
+cloud-based robotics physics simulation platform.
+
+Start with:
+
+```bash
+miniverse version --json
+miniverse auth status --json
+miniverse bundle validate PATH.dhsim --json
+```
+Use `miniverse auth login` once for a persistent agent workspace; the CLI
+refreshes that grant automatically. Use `MINIVERSE_API_TOKEN` for CI. Never
+print credentials or signed transfer URLs.
+
+Read the relevant topic before acting:
+
+```bash
+miniverse agent-help auth
+miniverse agent-help bundles
+miniverse agent-help onnx
+miniverse agent-help upload
+miniverse agent-help sessions
+```
+
+Read `onnx` BEFORE exporting a checkpoint: it lists the TensorRT-RTX
+compatibility rules (no full-axis sorts, static TopK K, no data-dependent
+control flow) that determine whether Miniverse can serve the checkpoint
+through optimized inference instead of the ONNX fallback.

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/onnx.md

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+# Exporting TensorRT-compatible ONNX checkpoints
+
+Miniverse attempts to compile each uploaded checkpoint with TensorRT-RTX and
+standard TensorRT to serve optimized inference. A checkpoint that only runs
+under the ONNX Runtime fallback still works, but loses the optimized path — so
+export with the compiler in mind, then lint before bundling:
+
+```bash
+miniverse model validate model.onnx --strict --json
+```
+
+Fix findings by re-exporting from the source checkpoint, never by editing
+graph bytes by hand.
+
+## Contract requirements
+
+- Server-side import requires opset 13–21 (18 recommended) with static input
+  and output shapes. Local CLI validation does not currently enforce the opset
+  range, so treat a successful local result as preflight feedback rather than
+  import acceptance.
+- Embed the Miniverse simulation contract (schema 0.3) in the model metadata,
+  including `precision` (`fp32`, `fp16`, or `bf16`). Weights stay fp32 in the
+  ONNX; `precision` declares the execution precision the compilers target.
+- Export a single policy step.
+- Every graph op must be on the runtime allowlist (deterministic tensor math
+  only); `miniverse model validate` reports violations as errors.
+- Recurrent policies declare `stateBindings` pairing a state input with a
+  same-shape state output; the runtime owns allocation, feedback, and reset.
+- Temporal features come from declarative `historyBuffers` (capacity +
+  `sampleOffsets` over any provider source), not from hand-rolled buffers.
+- Actuator-target outputs are physical values: v0.3 has no output
+  `scale`/`offset`. Bake PD scaling and decoding into the graph.
+- `miniverse model validate` also lints exact per-input operations against each
+  simulator profile. Fix `unsupported` rows before uploading. This is a lint,
+  not a `requiredCapabilities` declaration or runtime negotiation mechanism;
+  runtime failures repeat the selected and supporting backends descriptively.
+
+## TensorRT compatibility rules
+
+**No full-axis sorts.** `torch.sort` and full-vocabulary `torch.topk` lower to
+ONNX `TopK` with K equal to the axis length, which TensorRT cannot compile.
+Restructure the math instead: prefer fixed-iteration, data-independent
+formulations (for example threshold-based selection built from elementwise
+compares and reductions) that preserve the checkpoint's output distribution.
+Do not simply cap K when doing so changes policy behavior.
+
+**Keep every `TopK` K a graph constant.** Shape-derived or otherwise dynamic
+K cannot be verified at build time and fails compilation.
+
+**For generative policies with in-graph sampling, declare `precision: "fp16"`
+only when the whole graph tolerates it.** The compilers convert every float
+tensor, not just the network weights. An fp16 cumulative distribution resolves
+~5e-4 absolute, so a sampler over a large vocabulary cannot draw tokens below
+that probability and their mass shifts onto neighbours — a silent behavior
+change that ONNX Runtime (which executes the declared fp32 graph) never shows.
+Declare `fp32` for sampler-bearing graphs unless the CDF is kept in full
+precision by construction.
+
+**No data-dependent control flow.** Unroll loops to a fixed iteration count at
+export; avoid `If`/`Loop`/`Scan` nodes.
+
+**Do not change floating-point precision to gain compatibility.** Export the
+exact dtypes of the source checkpoint. Never recast weights, activations, or
+accumulations to lower or mixed precision merely to satisfy a compiler finding;
+if a checkpoint only compiles after altering precision, treat it as
+incompatible and report the finding to the user instead of uploading the
+modified graph.
+
+**For transformer-based policies, avoid known PyTorch export traps:**
+
+- Disable the fused transformer fast path before export
+  (`torch.backends.mha.set_fastpath_enabled(False)`); the fused aten op has no
+  ONNX lowering.
+- Avoid mutation-based indexed assignment and indexed constant construction;
+  they can produce invalid-rank `ScatterElements` nodes. Use functional
+  equivalents (`torch.where`, `torch.cat`, arithmetic index transforms).
+
+## Verify, bundle, upload
+
+```bash
+miniverse model validate model.onnx --strict --json
+miniverse bundle validate bundle.dhsim --strict --json
+miniverse bundle upload bundle.dhsim --json
+```
+
+`bundle validate` runs the same model validation across every model in the
+archive. Contract, graph, hash, tensor, or simulator errors always fail.
+Warnings mean the checkpoint will import and run on the fallback but cannot be
+compiled; `--strict` promotes those warnings to errors.

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/sessions.md

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+# Session evidence and lifecycle
+
+A simulation is ready only after a valid descriptor and monotonically advancing
+sequence and physics ticks. For policy bundles also require policy invocation,
+actuator write/target evidence, and observable joint, body, or root changes.
+
+Treat health, allocation, `running`, WebSocket connection, and scene rendering
+as intermediate signals. Verify command acknowledgement and command-to-effect,
+then explicitly stop the session and confirm assignment release.

miniverse_sdk-0.2.0/src/miniverse_sdk/agent_help/upload.md

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+# Bundle upload
+
+Run:
+
+```bash
+miniverse bundle upload PATH.dhsim --json
+```
+
+The CLI creates a D1-backed bundle revision and uploads the archive directly to
+the returned conditional R2 URL. An R2 object-create event starts server-side
+inspection and preprocessing; the CLI does not send a completion request or
+declare the archive's manifest and asset identities. Use `--no-wait` to detach
+and `miniverse bundle status ID@REVISION_ID` to resume observation.
+
+An uploaded revision remains private when it becomes ready. Publication is a
+separate, explicit `miniverse bundle publish ID@REVISION_ID` action that moves
+the bundle's current-revision pointer. Never infer publication
+or simulator readiness from an HTTP 202, object presence, or provider status.