mjlab 0.0.2__tar.gz

mjlab-0.0.2/LICENSE

@@ -0,0 +1,202 @@
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mjlab-0.0.2/PKG-INFO

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+Metadata-Version: 2.4
+Name: mjlab
+Version: 0.0.2
+Summary: IsaacLab-style manager API, powered by MuJoCo-Warp, for RL and robotics research.
+Keywords: mujoco,mujoco-warp,simulation,reinforcement-learning,robotics
+Author: The MjLab Developers
+License-Expression: Apache-2.0
+License-File: LICENSE
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Typing :: Typed
+Classifier: Environment :: GPU :: NVIDIA CUDA
+Classifier: Topic :: Scientific/Engineering
+Classifier: Natural Language :: English
+Requires-Dist: gymnasium==1.2.0
+Requires-Dist: prettytable
+Requires-Dist: tqdm
+Requires-Dist: tyro
+Requires-Dist: torch
+Requires-Dist: warp-lang
+Requires-Dist: mujoco
+Requires-Dist: trimesh
+Requires-Dist: viser
+Requires-Dist: wandb
+Requires-Dist: moviepy
+Requires-Dist: tensordict
+Requires-Dist: rsl-rl-lib
+Requires-Dist: tensorboard>=2.20.0
+Requires-Dist: torch>=2.7.0 ; extra == 'cu12'
+Requires-Python: >=3.10
+Project-URL: Bug Reports, https://github.com/mujocolab/mjlab/issues
+Project-URL: Source, https://github.com/mujocolab/mjlab
+Provides-Extra: cu12
+Description-Content-Type: text/markdown
+
+# mjlab
+
+<p align="left">
+  <img alt="tests" src="https://github.com/mujocolab/mjlab/actions/workflows/ci.yml/badge.svg" />
+</p>
+
+> **⚠️ EXPERIMENTAL PREVIEW** 
+> 
+> This project is in very early experimental stages. APIs, features, and documentation are subject to significant changes. Use at your own risk and expect frequent breaking changes.
+
+[Isaac Lab](https://github.com/isaac-sim/IsaacLab) API with [MJWarp](https://github.com/google-deepmind/mujoco_warp) backend.
+
+```bash
+uv run demo
+```
+
+## Development Guide
+
+Clone `mjlab`:
+
+```bash
+git clone git@github.com:mujocolab/mjlab.git && cd mjlab
+```
+
+### Using uv
+
+Install [uv](https://docs.astral.sh/uv/):
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+Once installed, you can verify it works by running:
+
+```bash
+uv run scripts/list_envs.py
+```
+
+## Reinforcement Learning
+
+### Velocity training
+
+Train a Unitree G1 to follow velocity commands (headless, large batch):
+
+```bash
+MUJOCO_GL=egl uv run train \
+  Mjlab-Velocity-Flat-Unitree-G1 \
+  --env.scene.num-envs 4096
+```
+
+Play the trained policy:
+
+```bash
+uv run play --task Mjlab-Velocity-Flat-Unitree-G1-Play
+```
+
+### Motion mimicking
+
+Run a pre-trained motion-mimic policy on the G1:
+
+```bash
+uv run play \
+  --task Mjlab-Tracking-Flat-Unitree-G1-Play \
+  --wandb-run-path gcbc_researchers/mjlab_alpha/rfdej55h
+```
+
+Train the same motion-mimic policy (headless, large batch):
+
+```bash
+MUJOCO_GL=egl uv run train \
+  Mjlab-Tracking-Flat-Unitree-G1 \
+  --registry-name gcbc_researchers/csv_to_npz/lafan_cartwheel \
+  --env.scene.num-envs 4096
+```
+
+Add a new motion to the WandB registry from a CSV:
+
+```bash
+MUJOCO_GL=egl uv run src/mjlab/scripts/csv_to_npz.py \
+  --input-file /path/to/motion.csv \
+  --output-name side_kick \
+  --input-fps 30 \
+  --output-fps 50 \
+  --render
+```
+
+## Running tests
+
+```bash
+make test
+```
+
+## Code formatting and linting
+
+You can install a pre-commit hook:
+
+```bash
+uvx pre-commit install
+```
+
+or manually format with:
+
+```
+make format
+```
+
+## Troubleshooting
+
+**CUDA Compatibility**: Not all CUDA versions are supported. Check [mujoco_warp#101](https://github.com/google-deepmind/mujoco_warp/issues/101) for your CUDA version compatibility.
+
+## License
+
+This project, **mjlab**, is licensed under the [Apache License, Version 2.0](LICENSE).
+
+### Third-Party Code
+
+The `third_party/` directory contains selected files from external projects.  
+Each such subdirectory includes its own original `LICENSE` file from the upstream source.  
+These files are used under the terms of their respective licenses.
+
+Currently, `third_party/` contains:
+
+- **isaaclab/** — Selected files from [NVIDIA Isaac Lab](https://github.com/isaac-sim/IsaacLab),  
+  licensed under the [BSD-3-Clause](src/mjlab/third_party/isaaclab/LICENSE).
+
+When distributing or modifying this project, you must comply with both:
+
+1. The **Apache-2.0 license** of mjlab (applies to all original code in this repository).
+2. The licenses of any code in `third_party/` (applies only to the files from those projects).
+
+See the individual `LICENSE` files for the complete terms.

mjlab-0.0.2/README.md

@@ -0,0 +1,131 @@
+# mjlab
+
+<p align="left">
+  <img alt="tests" src="https://github.com/mujocolab/mjlab/actions/workflows/ci.yml/badge.svg" />
+</p>
+
+> **⚠️ EXPERIMENTAL PREVIEW** 
+> 
+> This project is in very early experimental stages. APIs, features, and documentation are subject to significant changes. Use at your own risk and expect frequent breaking changes.
+
+[Isaac Lab](https://github.com/isaac-sim/IsaacLab) API with [MJWarp](https://github.com/google-deepmind/mujoco_warp) backend.
+
+```bash
+uv run demo
+```
+
+## Development Guide
+
+Clone `mjlab`:
+
+```bash
+git clone git@github.com:mujocolab/mjlab.git && cd mjlab
+```
+
+### Using uv
+
+Install [uv](https://docs.astral.sh/uv/):
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+Once installed, you can verify it works by running:
+
+```bash
+uv run scripts/list_envs.py
+```
+
+## Reinforcement Learning
+
+### Velocity training
+
+Train a Unitree G1 to follow velocity commands (headless, large batch):
+
+```bash
+MUJOCO_GL=egl uv run train \
+  Mjlab-Velocity-Flat-Unitree-G1 \
+  --env.scene.num-envs 4096
+```
+
+Play the trained policy:
+
+```bash
+uv run play --task Mjlab-Velocity-Flat-Unitree-G1-Play
+```
+
+### Motion mimicking
+
+Run a pre-trained motion-mimic policy on the G1:
+
+```bash
+uv run play \
+  --task Mjlab-Tracking-Flat-Unitree-G1-Play \
+  --wandb-run-path gcbc_researchers/mjlab_alpha/rfdej55h
+```
+
+Train the same motion-mimic policy (headless, large batch):
+
+```bash
+MUJOCO_GL=egl uv run train \
+  Mjlab-Tracking-Flat-Unitree-G1 \
+  --registry-name gcbc_researchers/csv_to_npz/lafan_cartwheel \
+  --env.scene.num-envs 4096
+```
+
+Add a new motion to the WandB registry from a CSV:
+
+```bash
+MUJOCO_GL=egl uv run src/mjlab/scripts/csv_to_npz.py \
+  --input-file /path/to/motion.csv \
+  --output-name side_kick \
+  --input-fps 30 \
+  --output-fps 50 \
+  --render
+```
+
+## Running tests
+
+```bash
+make test
+```
+
+## Code formatting and linting
+
+You can install a pre-commit hook:
+
+```bash
+uvx pre-commit install
+```
+
+or manually format with:
+
+```
+make format
+```
+
+## Troubleshooting
+
+**CUDA Compatibility**: Not all CUDA versions are supported. Check [mujoco_warp#101](https://github.com/google-deepmind/mujoco_warp/issues/101) for your CUDA version compatibility.
+
+## License
+
+This project, **mjlab**, is licensed under the [Apache License, Version 2.0](LICENSE).
+
+### Third-Party Code
+
+The `third_party/` directory contains selected files from external projects.  
+Each such subdirectory includes its own original `LICENSE` file from the upstream source.  
+These files are used under the terms of their respective licenses.
+
+Currently, `third_party/` contains:
+
+- **isaaclab/** — Selected files from [NVIDIA Isaac Lab](https://github.com/isaac-sim/IsaacLab),  
+  licensed under the [BSD-3-Clause](src/mjlab/third_party/isaaclab/LICENSE).
+
+When distributing or modifying this project, you must comply with both:
+
+1. The **Apache-2.0 license** of mjlab (applies to all original code in this repository).
+2. The licenses of any code in `third_party/` (applies only to the files from those projects).
+
+See the individual `LICENSE` files for the complete terms.

mjlab-0.0.2/pyproject.toml

@@ -0,0 +1,108 @@
+[build-system]
+requires = ["uv_build>=0.8.19,<0.9.0"]
+build-backend = "uv_build"
+
+[project]
+name = "mjlab"
+version = "0.0.2"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+readme = { file = "README.md", content-type = "text/markdown" }
+authors = [
+    {name = "The MjLab Developers"},
+]
+keywords = ["mujoco",  "mujoco-warp", "simulation", "reinforcement-learning", "robotics"]
+classifiers = [
+    "Development Status :: 4 - Beta",
+    "Intended Audience :: Developers",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: Apache Software License",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11", 
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3 :: Only",
+    "Typing :: Typed",
+    "Environment :: GPU :: NVIDIA CUDA",
+    "Topic :: Scientific/Engineering",
+    "Natural Language :: English",
+]
+description = "IsaacLab-style manager API, powered by MuJoCo-Warp, for RL and robotics research."
+requires-python = ">=3.10"
+dependencies = [
+    "gymnasium==1.2.0",
+    "prettytable",
+    "tqdm",
+    "tyro",
+    "torch",
+    "warp-lang",
+    # "mujoco-warp @ git+https://github.com/google-deepmind/mujoco_warp",
+    "mujoco",
+    "trimesh",
+    "viser",
+    "wandb",
+    "moviepy",
+    "tensordict",
+    "rsl-rl-lib",
+    "tensorboard>=2.20.0",
+]
+
+[project.urls]
+  "Bug Reports" = "https://github.com/mujocolab/mjlab/issues"
+  "Source" = "https://github.com/mujocolab/mjlab"
+
+[dependency-groups]
+dev = [
+  "pre-commit",
+  "pyright>=1.1.386",
+  "pytest>=8.4.2",
+  "ruff>=0.13.1",
+]
+
+[project.optional-dependencies]
+cu12 = ["torch>=2.7.0"]
+
+[project.scripts]
+train = "mjlab.scripts.train:main"
+play = "mjlab.scripts.play:main"
+demo = "mjlab.scripts.demo:main"
+
+[[tool.uv.index]]
+url = "https://pypi.org/simple"
+
+[[tool.uv.index]]
+name = "nvidia"
+url = "https://pypi.nvidia.com/"
+explicit = true
+
+[[tool.uv.index]]
+name = "pytorch-cu128"
+url = "https://download.pytorch.org/whl/cu128"
+explicit = true
+
+[[tool.uv.index]]
+name = "mujoco"
+url = "https://py.mujoco.org"
+explicit = true
+
+[tool.uv.sources]
+mujoco-warp = { git = "https://github.com/google-deepmind/mujoco_warp" }
+warp-lang = { index = "nvidia", marker = "sys_platform != 'darwin'" }
+mujoco = { index = "mujoco" }
+torch = [{ index = "pytorch-cu128", extra = "cu12" }]
+
+[tool.ruff]
+src = ["src"]  # Helpful for recognizing first-party imports.
+indent-width = 2
+exclude = [
+  "src/mjlab/third_party",
+  "typings",
+]
+
+[tool.ruff.lint]
+select = ["E4", "E7", "E9", "F", "I", "B"]
+
+[tool.pyright]
+pythonVersion = "3.10"
+ignore = ["./typings", "./src/mjlab/third_party"]
+stubPath = "typings"

mjlab-0.0.2/src/mjlab/__init__.py

@@ -0,0 +1,17 @@
+import os
+from pathlib import Path
+
+import warp as wp
+
+MJLAB_SRC_PATH: Path = Path(__file__).parent
+
+
+def configure_warp() -> None:
+  """Configure Warp globally for mjlab."""
+  wp.config.enable_backward = False
+
+  quiet = os.environ.get("MJLAB_WARP_VERBOSE", "").lower() not in ("1", "true", "yes")
+  wp.config.quiet = quiet
+
+
+configure_warp()

mjlab-0.0.2/src/mjlab/asset_zoo/README.md

@@ -0,0 +1,6 @@
+# Asset Zoo
+
+| Robot | Image |
+|-------|-------|
+| **Unitree G1** | <img src="img/g1.png" width="200" height="150" alt="Unitree G1 Humanoid"> |
+| **Unitree Go1** | <img src="img/go1.png" width="200" height="150" alt="Unitree Go1 Quadruped"> |

mjlab-0.0.2/src/mjlab/asset_zoo/render_robots.py

@@ -0,0 +1,49 @@
+from dataclasses import replace
+from pathlib import Path
+
+import mujoco
+from PIL import Image
+
+from mjlab.entity import Entity, EntityCfg
+from mjlab.utils.spec_config import TextureCfg
+
+_HERE = Path(__file__).parent
+_HEIGHT = 300
+_WIDTH = 400
+
+
+def render_robots(name: str, cfg: EntityCfg):
+  skybox_tex = TextureCfg(
+    name="skybox",
+    type="skybox",
+    builtin="gradient",
+    rgb1=(1, 1, 1),
+    rgb2=(1, 1, 1),
+    width=512,
+    height=3072,
+  )
+  robot = Entity(replace(cfg, textures=(skybox_tex,)))
+  model = robot.compile()
+  data = mujoco.MjData(model)
+  mujoco.mj_resetDataKeyframe(model, data, 0)
+  data.qpos[:3] = 0.0
+  mujoco.mj_forward(model, data)
+  cam = mujoco.MjvCamera()
+  mujoco.mjv_defaultCamera(cam)
+  cam.elevation = -10
+  cam.distance = 1.15 * model.stat.extent
+  cam.azimuth = -160
+  cam.lookat[2] -= 0.1
+  with mujoco.Renderer(model, height=_HEIGHT, width=_WIDTH) as renderer:
+    renderer.update_scene(data, cam)
+    img = renderer.render()
+    img = Image.fromarray(img)
+    img.save(_HERE / "img" / f"{name}.png")
+
+
+if __name__ == "__main__":
+  from mjlab.asset_zoo.robots.unitree_g1.g1_constants import G1_ROBOT_CFG
+  from mjlab.asset_zoo.robots.unitree_go1.go1_constants import GO1_ROBOT_CFG
+
+  render_robots("g1", G1_ROBOT_CFG)
+  render_robots("go1", GO1_ROBOT_CFG)