mjbatch-uni 0.0.0__tar.gz

mjbatch_uni-0.0.0/CMakeLists.txt

@@ -0,0 +1,43 @@
+cmake_minimum_required(VERSION 3.15...3.30)
+project(${SKBUILD_PROJECT_NAME} LANGUAGES CXX)
+
+find_package(Python 3.10 COMPONENTS Interpreter Development.Module REQUIRED)
+
+execute_process(
+  COMMAND "${Python_EXECUTABLE}" -m nanobind --cmake_dir
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  OUTPUT_VARIABLE nanobind_ROOT)
+find_package(nanobind CONFIG REQUIRED)
+
+# Headers and libmujoco come from the installed mujoco wheel.
+execute_process(
+  COMMAND "${Python_EXECUTABLE}" -c
+    "import mujoco, pathlib; print(pathlib.Path(mujoco.__file__).parent)"
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  OUTPUT_VARIABLE MUJOCO_PKG_DIR
+  COMMAND_ERROR_IS_FATAL ANY)
+file(GLOB MUJOCO_LIBRARY "${MUJOCO_PKG_DIR}/libmujoco*${CMAKE_SHARED_LIBRARY_SUFFIX}*")
+if(NOT MUJOCO_LIBRARY)
+  message(FATAL_ERROR "Could not find libmujoco in ${MUJOCO_PKG_DIR}")
+endif()
+list(GET MUJOCO_LIBRARY 0 MUJOCO_LIBRARY)
+
+nanobind_add_module(_bindings FREE_THREADED NOMINSIZE src/mjbatch/csrc/bindings.cpp)
+target_include_directories(_bindings PRIVATE "${MUJOCO_PKG_DIR}/include")
+target_link_libraries(_bindings PRIVATE "${MUJOCO_LIBRARY}")
+
+# Find libmujoco next to the installed extension, <site-packages>/mujoco. The
+# macOS wheel's install name is a framework path that does not exist, so point
+# our load command at the plain file name instead.
+if(APPLE)
+  get_filename_component(MUJOCO_LIB_NAME "${MUJOCO_LIBRARY}" NAME)
+  execute_process(COMMAND otool -D "${MUJOCO_LIBRARY}" OUTPUT_VARIABLE _otool)
+  string(REGEX MATCH "@rpath[^\n]*" MUJOCO_INSTALL_NAME "${_otool}")
+  add_custom_command(TARGET _bindings POST_BUILD COMMAND install_name_tool -change
+    "${MUJOCO_INSTALL_NAME}" "@rpath/${MUJOCO_LIB_NAME}" $<TARGET_FILE:_bindings>)
+  set_target_properties(_bindings PROPERTIES INSTALL_RPATH "@loader_path/../mujoco")
+else()
+  set_target_properties(_bindings PROPERTIES INSTALL_RPATH "$ORIGIN/../mujoco")
+endif()
+
+install(TARGETS _bindings DESTINATION mjbatch)

mjbatch_uni-0.0.0/LICENSE

@@ -0,0 +1,202 @@
+
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+   9. Accepting Warranty or Additional Liability. While redistributing
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+
+   END OF TERMS AND CONDITIONS
+
+   APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
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mjbatch_uni-0.0.0/PKG-INFO

@@ -0,0 +1,117 @@
+Metadata-Version: 2.4
+Name: mjbatch-uni
+Version: 0.0.0
+Summary: A Python library for running thousands of MuJoCo simulations in parallel on CPU (unilabsim fork).
+Keywords: mujoco,physics,simulation,batched,reinforcement-learning
+Author: unilabsim
+Author-Email: Kevin Zakka <zakka@berkeley.edu>
+License-Expression: Apache-2.0
+License-File: LICENSE
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: C++
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
+Classifier: Programming Language :: Python :: Free Threading :: 2 - Beta
+Classifier: Topic :: Scientific/Engineering
+Project-URL: Homepage, https://github.com/unilabsim/mjbatch
+Project-URL: Repository, https://github.com/unilabsim/mjbatch
+Project-URL: Issues, https://github.com/unilabsim/mjbatch/issues
+Requires-Python: >=3.10
+Requires-Dist: mujoco==3.11.0
+Requires-Dist: numpy
+Description-Content-Type: text/markdown
+
+# mjbatch
+
+[![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mjbatch/ci.yml?branch=main)](https://github.com/kevinzakka/mjbatch/actions)
+[![PyPI version](https://img.shields.io/pypi/v/mjbatch)](https://pypi.org/project/mjbatch/)
+
+`mjbatch` is a Python library for running thousands of MuJoCo simulations in parallel on CPU.
+
+Features include:
+
+* C++ thread pool execution, with the GIL released;
+* Live array access to simulation state and controls across the batch, with `bind` for MjData fields;
+* Per-simulation model parameters, with `expand` for MjModel fields and `set_const` to recompute derived constants.
+* Batched queries beyond stepping: site Jacobians with `jac_site` and heightfield sampling with `sample_hfield` (world/yaw grid alignment); query ops return caller-allocated results without refreshing the bound views.
+* Per-substep control from Python with `step(..., callback=...)`.
+* Optional per-worker CPU pinning on Linux, with `cpu_ids` binding pool worker `i` to `cpu_ids[i]`.
+
+For example:
+
+```python
+import mujoco, numpy as np
+from mjbatch import Batch
+
+model = mujoco.MjModel.from_xml_path("scene.xml")
+batch = Batch(model, num_sims=4096)  # threads default to every logical CPU
+qpos, ctrl = batch.bind("qpos"), batch.bind("ctrl")
+batch.expand("geom_friction")[:, :, 0] = np.random.uniform(0.4, 1.2, (4096, 1))
+for _ in range(1000):
+  ctrl[:] = policy(qpos)             # your controller, all 4096 at once
+  batch.step()                       # step them in parallel; qpos updates in place
+```
+
+`sample_hfield` samples a shared heightfield at XY offsets around a body origin,
+returning the world z of the sampled surface. `alignment="yaw"` rotates the
+sampling grid by the frame body's yaw about world z, so a per-sim `geom_quat`
+rotates each simulation's scan pattern.
+
+## Examples
+
+We showcase a range of applications built using `mjbatch`: RL, MPC, SysID, and hardware
+co-design. Each example is a self-contained, performant implementation. For instance, the Go1
+RL controller learns to walk in under a minute on a five-year-old M1 laptop.
+
+<table>
+  <tr>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/cartpole_swingup.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/cartpole_swingup.gif" alt="cart-pole swing-up"></a>
+    </td>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/cartpole_mpc.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/cartpole_mpc.gif" alt="cart-pole MPC"></a>
+    </td>
+  </tr>
+  <tr>
+    <td align="center">A two-pole cart swung upright with <a href="https://ieeexplore.ieee.org/document/6386025">iLQR</a></td>
+    <td align="center">A cart-pole swing-up controller using <a href="https://arxiv.org/abs/2212.00541">predictive sampling</a></td>
+  </tr>
+  <tr>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/g1_flip.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/g1_flip.gif" alt="G1 backflip"></a>
+    </td>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/go1_joystick.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/go1_joystick.gif" alt="Go1 joystick"></a>
+    </td>
+  </tr>
+  <tr>
+    <td align="center">A G1 humanoid tracking a reference backflip with receding-horizon iLQR</td>
+    <td align="center">A Go1 quadruped joystick controller trained with PPO</td>
+  </tr>
+  <tr>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/arm_throw.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/arm_throw.gif" alt="throwing arm co-design"></a>
+    </td>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/rizon_inertia.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/rizon_inertia.gif" alt="Rizon inertia identification"></a>
+    </td>
+  </tr>
+  <tr>
+    <td align="center">CEM jointly optimizes a robot arm's proportions, gears, and controls</td>
+    <td align="center">Damped Gauss–Newton fits a Rizon arm's inertial parameters to synthetic motion data</td>
+  </tr>
+</table>
+
+Run with `uv run examples/<file>.py`; some need `uv sync --group examples`. The ones that open
+a window need a display; `--headless` runs the solver without one.
+
+## License
+
+Apache-2.0.

mjbatch_uni-0.0.0/README.md

@@ -0,0 +1,87 @@
+# mjbatch
+
+[![Build](https://img.shields.io/github/actions/workflow/status/kevinzakka/mjbatch/ci.yml?branch=main)](https://github.com/kevinzakka/mjbatch/actions)
+[![PyPI version](https://img.shields.io/pypi/v/mjbatch)](https://pypi.org/project/mjbatch/)
+
+`mjbatch` is a Python library for running thousands of MuJoCo simulations in parallel on CPU.
+
+Features include:
+
+* C++ thread pool execution, with the GIL released;
+* Live array access to simulation state and controls across the batch, with `bind` for MjData fields;
+* Per-simulation model parameters, with `expand` for MjModel fields and `set_const` to recompute derived constants.
+* Batched queries beyond stepping: site Jacobians with `jac_site` and heightfield sampling with `sample_hfield` (world/yaw grid alignment); query ops return caller-allocated results without refreshing the bound views.
+* Per-substep control from Python with `step(..., callback=...)`.
+* Optional per-worker CPU pinning on Linux, with `cpu_ids` binding pool worker `i` to `cpu_ids[i]`.
+
+For example:
+
+```python
+import mujoco, numpy as np
+from mjbatch import Batch
+
+model = mujoco.MjModel.from_xml_path("scene.xml")
+batch = Batch(model, num_sims=4096)  # threads default to every logical CPU
+qpos, ctrl = batch.bind("qpos"), batch.bind("ctrl")
+batch.expand("geom_friction")[:, :, 0] = np.random.uniform(0.4, 1.2, (4096, 1))
+for _ in range(1000):
+  ctrl[:] = policy(qpos)             # your controller, all 4096 at once
+  batch.step()                       # step them in parallel; qpos updates in place
+```
+
+`sample_hfield` samples a shared heightfield at XY offsets around a body origin,
+returning the world z of the sampled surface. `alignment="yaw"` rotates the
+sampling grid by the frame body's yaw about world z, so a per-sim `geom_quat`
+rotates each simulation's scan pattern.
+
+## Examples
+
+We showcase a range of applications built using `mjbatch`: RL, MPC, SysID, and hardware
+co-design. Each example is a self-contained, performant implementation. For instance, the Go1
+RL controller learns to walk in under a minute on a five-year-old M1 laptop.
+
+<table>
+  <tr>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/cartpole_swingup.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/cartpole_swingup.gif" alt="cart-pole swing-up"></a>
+    </td>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/cartpole_mpc.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/cartpole_mpc.gif" alt="cart-pole MPC"></a>
+    </td>
+  </tr>
+  <tr>
+    <td align="center">A two-pole cart swung upright with <a href="https://ieeexplore.ieee.org/document/6386025">iLQR</a></td>
+    <td align="center">A cart-pole swing-up controller using <a href="https://arxiv.org/abs/2212.00541">predictive sampling</a></td>
+  </tr>
+  <tr>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/g1_flip.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/g1_flip.gif" alt="G1 backflip"></a>
+    </td>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/go1_joystick.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/go1_joystick.gif" alt="Go1 joystick"></a>
+    </td>
+  </tr>
+  <tr>
+    <td align="center">A G1 humanoid tracking a reference backflip with receding-horizon iLQR</td>
+    <td align="center">A Go1 quadruped joystick controller trained with PPO</td>
+  </tr>
+  <tr>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/arm_throw.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/arm_throw.gif" alt="throwing arm co-design"></a>
+    </td>
+    <td align="center" width="50%">
+      <a href="https://github.com/kevinzakka/mjbatch/blob/main/examples/rizon_inertia.py"><img width="400" src="https://raw.githubusercontent.com/kevinzakka/mjbatch/main/examples/assets/rizon_inertia.gif" alt="Rizon inertia identification"></a>
+    </td>
+  </tr>
+  <tr>
+    <td align="center">CEM jointly optimizes a robot arm's proportions, gears, and controls</td>
+    <td align="center">Damped Gauss–Newton fits a Rizon arm's inertial parameters to synthetic motion data</td>
+  </tr>
+</table>
+
+Run with `uv run examples/<file>.py`; some need `uv sync --group examples`. The ones that open
+a window need a display; `--headless` runs the solver without one.
+
+## License
+
+Apache-2.0.

mjbatch_uni-0.0.0/pyproject.toml

@@ -0,0 +1,102 @@
+[build-system]
+requires = ["scikit-build-core>=1.0", "nanobind>=2.2.0", "mujoco==3.11.0"]
+build-backend = "scikit_build_core.build"
+
+[project]
+name = "mjbatch-uni"
+version = "0.0.0"
+description = "A Python library for running thousands of MuJoCo simulations in parallel on CPU (unilabsim fork)."
+readme = "README.md"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+authors = [
+  { name = "Kevin Zakka", email = "zakka@berkeley.edu" },
+  { name = "unilabsim" },
+]
+keywords = ["mujoco", "physics", "simulation", "batched", "reinforcement-learning"]
+classifiers = [
+  "Development Status :: 4 - Beta",
+  "Intended Audience :: Developers",
+  "Intended Audience :: Science/Research",
+  "Operating System :: MacOS",
+  "Operating System :: POSIX :: Linux",
+  "Programming Language :: C++",
+  "Programming Language :: Python :: 3.10",
+  "Programming Language :: Python :: 3.11",
+  "Programming Language :: Python :: 3.12",
+  "Programming Language :: Python :: 3.13",
+  "Programming Language :: Python :: 3.14",
+  "Programming Language :: Python :: Free Threading :: 2 - Beta",
+  "Topic :: Scientific/Engineering",
+]
+requires-python = ">=3.10"
+dependencies = ["mujoco==3.11.0", "numpy"]
+
+[project.urls]
+Homepage = "https://github.com/unilabsim/mjbatch"
+Repository = "https://github.com/unilabsim/mjbatch"
+Issues = "https://github.com/unilabsim/mjbatch/issues"
+
+[dependency-groups]
+dev = ["pytest", "ruff", "pyright", "nanobind>=2.2.0"]
+examples = [
+  "mediapy",
+  "mujoco-menagerie>=2026.9.0; python_full_version >= '3.10.12'",
+  "torch==2.9.0",
+]
+
+[tool.scikit-build]
+minimum-version = "build-system.requires"
+build-dir = "build/{wheel_tag}"
+wheel.packages = ["src/mjbatch"]
+wheel.exclude = ["mjbatch/csrc"]
+sdist.inclusion-mode = "explicit"
+sdist.include = ["src", "CMakeLists.txt", "LICENSE", "README.md", "pyproject.toml"]
+sdist.exclude = ["__pycache__"]
+
+[tool.ruff]
+indent-width = 2
+line-length = 110
+exclude = [".venv", "build", "typings", "*.pyi"]
+src = ["src", "tests", "benchmarks", "examples"]
+
+[tool.ruff.lint]
+select = ["E4", "E7", "E9", "F", "I", "B"]
+
+[tool.pyright]
+pythonVersion = "3.10"
+include = ["src", "tests"]
+extraPaths = ["examples", "lab"]
+stubPath = "typings"
+reportMissingModuleSource = false
+executionEnvironments = [{ root = "examples", reportOptionalSubscript = false }]
+
+[tool.ty.environment]
+extra-paths = ["typings"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[tool.cibuildwheel]
+build = "cp310-* cp311-* cp312-* cp313-*"
+# Windows: the mujoco wheel ships mujoco.dll with no import library, and the
+# extension finds libmujoco by rpath, which Windows has no equivalent of.
+skip = "*-musllinux_* *-win* *_i686"
+test-requires = "pytest"
+test-command = "pytest {project}/tests"
+
+[tool.cibuildwheel.linux]
+repair-wheel-command = "auditwheel repair --exclude libmujoco.so.3.11.0 -w {dest_dir} {wheel}"
+
+[tool.cibuildwheel.macos]
+repair-wheel-command = "delocate-wheel --ignore-missing-dependencies --exclude libmujoco.3.11.0.dylib --require-archs {delocate_archs} -w {dest_dir} -v {wheel}"
+
+[tool.uv.sources]
+# CUDA wheels built against the 12.8 driver on the Linux boxes; PyPI's default torch
+# targets a newer driver and fails to initialize CUDA there. macOS keeps PyPI's wheel.
+torch = [{ index = "pytorch-cu128", marker = "sys_platform == 'linux'" }]
+
+[[tool.uv.index]]
+name = "pytorch-cu128"
+url = "https://download.pytorch.org/whl/cu128"
+explicit = true