mujoco-mojo 2.3.0__tar.gz → 2.3.2__tar.gz

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/.gitignore

@@ -17,6 +17,7 @@ docs/reference/
 mojo-models
 textures
 
+typings
 MUJOCO_LOG.TXT
 
 /*.mp4

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mujoco-mojo
-Version: 2.3.0
+Version: 2.3.2
 Summary: A complete MJCF lifecycle and trial orchestration suite for MuJoCo, powered by Pydantic v2.
 Project-URL: Homepage, https://github.com/Hydrowelder/mujoco-mojo
 Project-URL: Documentation, https://hydrowelder.github.io/mujoco-mojo/
@@ -42,6 +42,7 @@ Requires-Dist: pip>=26.0.1
 Requires-Dist: polars>=1.39.0
 Requires-Dist: pyarrow>=23.0.1
 Requires-Dist: pybind11-stubgen>=2.5.5
+Requires-Dist: pydantic-settings>=2.14.1
 Requires-Dist: pydantic>=2.12.5
 Requires-Dist: python-fcl>=0.7.0.11
 Requires-Dist: rich>=14.3.3
@@ -51,12 +52,14 @@ Requires-Dist: scipy>=1.17.0
 Requires-Dist: sse-starlette>=3.3.4
 Requires-Dist: stochas>=2.0.0
 Requires-Dist: tabulate>=0.9.0
+Requires-Dist: tomli-w>=1.2.0
 Requires-Dist: trimesh>=4.11.2
 Requires-Dist: typer>=0.24.1
 Requires-Dist: uvicorn>=0.41.0
 Provides-Extra: reloaded
 Requires-Dist: mjviser>=0.0.11; extra == 'reloaded'
 Requires-Dist: viser>=1.0.26; extra == 'reloaded'
+Requires-Dist: watchfiles>=1.1.1; extra == 'reloaded'
 Description-Content-Type: text/markdown
 
 <p align="center">

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/pyproject.toml

@@ -42,6 +42,8 @@ dependencies = [
     "python-fcl>=0.7.0.11",
     "rtree>=1.4.1",
     "filelock>=3.29.0",
+    "pydantic-settings>=2.14.1",
+    "tomli-w>=1.2.0",
 ]
 classifiers = [
     "Development Status :: 4 - Beta",
@@ -69,7 +71,8 @@ keywords = [
 ]
 
 [project.optional-dependencies]
-reloaded = ["mjviser>=0.0.11", "viser>=1.0.26"]
+reloaded = ["mjviser>=0.0.11", "viser>=1.0.26", "watchfiles>=1.1.1"]
+# sensai = ["pydantic-ai>=1.102.0", "requests>=2.32.5"]
 
 [dependency-groups]
 dev = [
@@ -143,7 +146,7 @@ ignore = [
 ]
 
 [tool.pyright]
-stubPath = "typings"
+stubPath = "./typings"
 venvPath = ".."
 venv = ".venv"
 ignore = ["typings", "scripts/templating/sensor_template.py"]

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/requirements.txt

@@ -1033,9 +1033,9 @@ optype==0.15.0 \
     --hash=sha256:457d6ca9e7da19967ec16d42bdf94e240b33b5d70a56fbbf5b427e5ea39cf41e \
     --hash=sha256:caba40ece9ea39b499fa76c036a82e0d452a432dd4dd3e8e0d30892be2e8c76c
     # via scipy-stubs
-packaging==26.0 \
-    --hash=sha256:00243ae351a257117b6a241061796684b084ed1c516a08c48a3f7e147a9d80b4 \
-    --hash=sha256:b36f1fef9334a5588b4166f8bcd26a14e521f2b55e6b9de3aaa80d3ff7a37529
+packaging==25.0 \
+    --hash=sha256:29572ef2b1f17581046b3a2227d5c611fb25ec70ca1ba8554b24b0e69331a484 \
+    --hash=sha256:d443872c98d677bf60f6a1f2f8c1cb748e8fe762d2bf9d3148b5599295b0fc4f
     # via
     #   fastparquet
     #   ipykernel
@@ -1293,6 +1293,7 @@ pydantic==2.12.5 \
     #   fastapi
     #   mujoco-mojo
     #   numpydantic
+    #   pydantic-settings
     #   stochas
 pydantic-core==2.41.5 \
     --hash=sha256:0177272f88ab8312479336e1d777f6b124537d47f2123f89cb37e0accea97f90 \
@@ -1357,6 +1358,10 @@ pydantic-core==2.41.5 \
     --hash=sha256:ed2e99c456e3fadd05c991f8f437ef902e00eedf34320ba2b0842bd1c3ca3a75 \
     --hash=sha256:f41a7489d32336dbf2199c8c0a215390a751c5b014c2c1c5366e817202e9cdf7
     # via pydantic
+pydantic-settings==2.14.1 \
+    --hash=sha256:6e3c7edfd8277687cdc598f56e5cff0e9bfff0910a3749deaa8d4401c3a2b9de \
+    --hash=sha256:e874d3bec7e787b0c9958277956ed9b4dd5de6a80e162188fdaff7c5e26fd5fa
+    # via mujoco-mojo
 pygments==2.19.2 \
     --hash=sha256:636cb2477cec7f8952536970bc533bc43743542f70392ae026374600add5b887 \
     --hash=sha256:86540386c03d588bb81d44bc3928634ff26449851e99741617ecb9037ee5ec0b
@@ -1420,6 +1425,10 @@ python-dateutil==2.9.0.post0 \
     #   jupyter-client
     #   matplotlib
     #   pandas
+python-dotenv==1.2.2 \
+    --hash=sha256:1d8214789a24de455a8b8bd8ae6fe3c6b69a5e3d64aa8a8e5d68e694bbcb285a \
+    --hash=sha256:2c371a91fbd7ba082c2c1dc1f8bf89ca22564a087c2c287cd9b662adde799cf3
+    # via pydantic-settings
 python-fcl==0.7.0.11 \
     --hash=sha256:0a48312a0dcd8466e79be4b5025f52168d0e5b866b809f727923b313246989bc \
     --hash=sha256:136585069f547c303d9b7d7a3e9a63e0b03937279532cd3144c0f12c5ce853d2 \
@@ -1735,6 +1744,10 @@ tabulate==0.9.0 \
     --hash=sha256:0095b12bf5966de529c0feb1fa08671671b3368eec77d7ef7ab114be2c068b3c \
     --hash=sha256:024ca478df22e9340661486f85298cff5f6dcdba14f3813e8830015b9ed1948f
     # via mujoco-mojo
+tomli-w==1.2.0 \
+    --hash=sha256:188306098d013b691fcadc011abd66727d3c414c571bb01b1a174ba8c983cf90 \
+    --hash=sha256:2dd14fac5a47c27be9cd4c976af5a12d87fb1f0b4512f81d69cce3b35ae25021
+    # via mujoco-mojo
 tornado==6.5.5 \
     --hash=sha256:192b8f3ea91bd7f1f50c06955416ed76c6b72f96779b962f07f911b91e8d30e9 \
     --hash=sha256:2c9a876e094109333f888539ddb2de4361743e5d21eece20688e3e351e4990a6 \
@@ -1794,6 +1807,7 @@ typing-inspection==0.4.2 \
     # via
     #   fastapi
     #   pydantic
+    #   pydantic-settings
 tzdata==2025.3 ; sys_platform == 'emscripten' or sys_platform == 'win32' \
     --hash=sha256:06a47e5700f3081aab02b2e513160914ff0694bce9947d6b76ebd6bf57cfc5d1 \
     --hash=sha256:de39c2ca5dc7b0344f2eba86f49d614019d29f060fc4ebc8a417896a620b56a7
@@ -1890,64 +1904,49 @@ wcwidth==0.6.0 \
     --hash=sha256:1a3a1e510b553315f8e146c54764f4fb6264ffad731b3d78088cdb1478ffbdad \
     --hash=sha256:cdc4e4262d6ef9a1a57e018384cbeb1208d8abbc64176027e2c2455c81313159
     # via prompt-toolkit
-wrapt==2.1.2 \
-    --hash=sha256:08ffa54146a7559f5b8df4b289b46d963a8e74ed16ba3687f99896101a3990c5 \
-    --hash=sha256:0fc04bc8664a8bc4c8e00b37b5355cffca2535209fba1abb09ae2b7c76ddf82b \
-    --hash=sha256:1370e516598854e5b4366e09ce81e08bfe94d42b0fd569b88ec46cc56d9164a9 \
-    --hash=sha256:162e4e2ba7542da9027821cb6e7c5e068d64f9a10b5f15512ea28e954893a267 \
-    --hash=sha256:16997dfb9d67addc2e3f41b62a104341e80cac52f91110dece393923c0ebd5ca \
-    --hash=sha256:1c51c738d7d9faa0b3601708e7e2eda9bf779e1b601dce6c77411f2a1b324a63 \
-    --hash=sha256:2d3ff4f0024dd224290c0eabf0240f1bfc1f26363431505fb1b0283d3b08f11d \
-    --hash=sha256:3144b027ff30cbd2fca07c0a87e67011adb717eb5f5bd8496325c17e454257a3 \
-    --hash=sha256:3278c471f4468ad544a691b31bb856374fbdefb7fee1a152153e64019379f015 \
-    --hash=sha256:3769a77df8e756d65fbc050333f423c01ae012b4f6731aaf70cf2bef61b34596 \
-    --hash=sha256:3969c56e4563c375861c8df14fa55146e81ac11c8db49ea6fb7f2ba58bc1ff9a \
-    --hash=sha256:3996a67eecc2c68fd47b4e3c564405a5777367adfd9b8abb58387b63ee83b21e \
-    --hash=sha256:3b8d15e52e195813efe5db8cec156eebe339aaf84222f4f4f051a6c01f237ed7 \
-    --hash=sha256:3beb22f674550d5634642c645aba4c72a2c66fb185ae1aebe1e955fae5a13baf \
-    --hash=sha256:4006c351de6d5007aa33a551f600404ba44228a89e833d2fadc5caa5de8edfbf \
-    --hash=sha256:467e7c76315390331c67073073d00662015bb730c566820c9ca9b54e4d67fd04 \
-    --hash=sha256:4bdf26e03e6d0da3f0e9422fd36bcebf7bc0eeb55fdf9c727a09abc6b9fe472e \
-    --hash=sha256:57d7c0c980abdc5f1d98b11a2aa3bb159790add80258c717fa49a99921456d90 \
-    --hash=sha256:5c35b5d82b16a3bc6e0a04349b606a0582bc29f573786aebe98e0c159bc48db6 \
-    --hash=sha256:62503ffbc2d3a69891cf29beeaccdb4d5e0a126e2b6a851688d4777e01428dbb \
-    --hash=sha256:6433ea84e1cfacf32021d2a4ee909554ade7fd392caa6f7c13f1f4bf7b8e8748 \
-    --hash=sha256:6de1a3851c27e0bd6a04ca993ea6f80fc53e6c742ee1601f486c08e9f9b900a9 \
-    --hash=sha256:6f2c5390460de57fa9582bc8a1b7a6c86e1a41dfad74c5225fc07044c15cc8d1 \
-    --hash=sha256:6f8dbdd3719e534860d6a78526aafc220e0241f981367018c2875178cf83a413 \
-    --hash=sha256:6f97edc9842cf215312b75fe737ee7c8adda75a89979f8e11558dfff6343cc4b \
-    --hash=sha256:72aaa9d0d8e4ed0e2e98019cea47a21f823c9dd4b43c7b77bba6679ffcca6a00 \
-    --hash=sha256:76405518ca4e1b76fbb1b9f686cff93aebae03920cc55ceeec48ff9f719c5f67 \
-    --hash=sha256:776867878e83130c7a04237010463372e877c1c994d449ca6aaafeab6aab2586 \
-    --hash=sha256:787fd6f4d67befa6fe2abdffcbd3de2d82dfc6fb8a6d850407c53332709d030b \
-    --hash=sha256:79847b83eb38e70d93dc392c7c5b587efe65b3e7afcc167aa8abd5d60e8761c8 \
-    --hash=sha256:7dfa9f2cf65d027b951d05c662cc99ee3bd01f6e4691ed39848a7a5fffc902b2 \
-    --hash=sha256:84ce8f1c2104d2f6daa912b1b5b039f331febfeee74f8042ad4e04992bd95c8f \
-    --hash=sha256:970d57ed83fa040d8b20c52fe74a6ae7e3775ae8cff5efd6a81e06b19078484c \
-    --hash=sha256:a76d61a2e851996150ba0f80582dd92a870643fa481f3b3846f229de88caf044 \
-    --hash=sha256:a8914c754d3134a3032601c6984db1c576e6abaf3fc68094bb8ab1379d75ff92 \
-    --hash=sha256:a9372fc3639a878c8e7d87e1556fa209091b0a66e912c611e3f833e2c4202be2 \
-    --hash=sha256:a93cd767e37faeddbe07d8fc4212d5cba660af59bdb0f6372c93faaa13e6e679 \
-    --hash=sha256:a9b9d50c9af998875a1482a038eb05755dfd6fe303a313f6a940bb53a83c3f18 \
-    --hash=sha256:a9dd9813825f7ecb018c17fd147a01845eb330254dff86d3b5816f20f4d6aaf8 \
-    --hash=sha256:b8fd6fa2b2c4e7621808f8c62e8317f4aae56e59721ad933bac5239d913cf0e8 \
-    --hash=sha256:bbac24d879aa22998e87f6b3f481a5216311e7d53c7db87f189a7a0266dafffb \
-    --hash=sha256:c0be8b5a74c5824e9359b53e7e58bef71a729bacc82e16587db1c4ebc91f7c5a \
-    --hash=sha256:c20b757c268d30d6215916a5fa8461048d023865d888e437fab451139cad6c8e \
-    --hash=sha256:c7e6cd120ef837d5b6f860a6ea3745f8763805c418bb2f12eeb1fa6e25f22d22 \
-    --hash=sha256:c8e46ae8e4032792eb2f677dbd0d557170a8e5524d22acc55199f43efedd39bf \
-    --hash=sha256:da1f00a557c66225d53b095a97eace0fc5349e3bfda28fa34ffae238978ee575 \
-    --hash=sha256:de9f1a2bbc5ac7f6012ec24525bdd444765a2ff64b5985ac6e0692144838542e \
-    --hash=sha256:e3d3b35eedcf5f7d022291ecd7533321c4775f7b9cd0050a31a68499ba45757c \
-    --hash=sha256:e6ed62c82ddf58d001096ae84ce7f833db97ae2263bff31c9b336ba8cfe3f508 \
-    --hash=sha256:eba8155747eb2cae4a0b913d9ebd12a1db4d860fc4c829d7578c7b989bd3f2f0 \
-    --hash=sha256:f01277d9a5fc1862f26f7626da9cf443bebc0abd2f303f41c5e995b15887dabd \
-    --hash=sha256:f29c827a8d9936ac320746747a016c4bc66ef639f5cd0d32df24f5eacbf9c69f \
-    --hash=sha256:f8bc1c264d8d1cf5b3560a87bbdd31131573eb25f9f9447bb6252b8d4c44a3a1 \
-    --hash=sha256:f8fba1bae256186a83d1875b2b1f4e2d1242e8fac0f58ec0d7e41b26967b965c \
-    --hash=sha256:fab036efe5464ec3291411fabb80a7a39e2dd80bae9bcbeeca5087fdfa891e19 \
-    --hash=sha256:ff2aad9c4cda28a8f0653fc2d487596458c2a3f475e56ba02909e950a9efa6a9 \
-    --hash=sha256:ff95d4264e55839be37bafe1536db2ab2de19da6b65f9244f01f332b5286cfbf
+wrapt==1.17.3 \
+    --hash=sha256:042ec3bb8f319c147b1301f2393bc19dba6e176b7da446853406d041c36c7828 \
+    --hash=sha256:0b02e424deef65c9f7326d8c19220a2c9040c51dc165cddb732f16198c168396 \
+    --hash=sha256:0ed61b7c2d49cee3c027372df5809a59d60cf1b6c2f81ee980a091f3afed6a2d \
+    --hash=sha256:16ecf15d6af39246fe33e507105d67e4b81d8f8d2c6598ff7e3ca1b8a37213f7 \
+    --hash=sha256:1f0b2f40cf341ee8cc1a97d51ff50dddb9fcc73241b9143ec74b30fc4f44f6cb \
+    --hash=sha256:223db574bb38637e8230eb14b185565023ab624474df94d2af18f1cdb625216f \
+    --hash=sha256:249f88ed15503f6492a71f01442abddd73856a0032ae860de6d75ca62eed8067 \
+    --hash=sha256:281262213373b6d5e4bb4353bc36d1ba4084e6d6b5d242863721ef2bf2c2930b \
+    --hash=sha256:373342dd05b1d07d752cecbec0c41817231f29f3a89aa8b8843f7b95992ed0c7 \
+    --hash=sha256:3af60380ba0b7b5aeb329bc4e402acd25bd877e98b3727b0135cb5c2efdaefe9 \
+    --hash=sha256:41b1d2bc74c2cac6f9074df52b2efbef2b30bdfe5f40cb78f8ca22963bc62977 \
+    --hash=sha256:423ed5420ad5f5529db9ce89eac09c8a2f97da18eb1c870237e84c5a5c2d60aa \
+    --hash=sha256:4da9f45279fff3543c371d5ababc57a0384f70be244de7759c85a7f989cb4ebe \
+    --hash=sha256:507553480670cab08a800b9463bdb881b2edeed77dc677b0a5915e6106e91a58 \
+    --hash=sha256:53e5e39ff71b3fc484df8a522c933ea2b7cdd0d5d15ae82e5b23fde87d44cbd8 \
+    --hash=sha256:54a30837587c6ee3cd1a4d1c2ec5d24e77984d44e2f34547e2323ddb4e22eb77 \
+    --hash=sha256:5a03a38adec8066d5a37bea22f2ba6bbf39fcdefbe2d91419ab864c3fb515454 \
+    --hash=sha256:5d4478d72eb61c36e5b446e375bbc49ed002430d17cdec3cecb36993398e1a9e \
+    --hash=sha256:5ea5eb3c0c071862997d6f3e02af1d055f381b1d25b286b9d6644b79db77657c \
+    --hash=sha256:604d076c55e2fdd4c1c03d06dc1a31b95130010517b5019db15365ec4a405fc6 \
+    --hash=sha256:6b538e31eca1a7ea4605e44f81a48aa24c4632a277431a6ed3f328835901f4fd \
+    --hash=sha256:6fd1ad24dc235e4ab88cda009e19bf347aabb975e44fd5c2fb22a3f6e4141277 \
+    --hash=sha256:7171ae35d2c33d326ac19dd8facb1e82e5fd04ef8c6c0e394d7af55a55051c22 \
+    --hash=sha256:73d496de46cd2cdbdbcce4ae4bcdb4afb6a11234a1df9c085249d55166b95116 \
+    --hash=sha256:7425ac3c54430f5fc5e7b6f41d41e704db073309acfc09305816bc6a0b26bb16 \
+    --hash=sha256:74afa28374a3c3a11b3b5e5fca0ae03bef8450d6aa3ab3a1e2c30e3a75d023dc \
+    --hash=sha256:88547535b787a6c9ce4086917b6e1d291aa8ed914fdd3a838b3539dc95c12804 \
+    --hash=sha256:9baa544e6acc91130e926e8c802a17f3b16fbea0fd441b5a60f5cf2cc5c3deba \
+    --hash=sha256:a47681378a0439215912ef542c45a783484d4dd82bac412b71e59cf9c0e1cea0 \
+    --hash=sha256:ab232e7fdb44cdfbf55fc3afa31bcdb0d8980b9b95c38b6405df2acb672af0e0 \
+    --hash=sha256:cf30f6e3c077c8e6a9a7809c94551203c8843e74ba0c960f4a98cd80d4665d39 \
+    --hash=sha256:d40770d7c0fd5cbed9d84b2c3f2e156431a12c9a37dc6284060fb4bec0b7ffd4 \
+    --hash=sha256:dc4a8d2b25efb6681ecacad42fca8859f88092d8732b170de6a5dddd80a1c8fa \
+    --hash=sha256:e01375f275f010fcbf7f643b4279896d04e571889b8a5b3f848423d91bf07050 \
+    --hash=sha256:e1a4120ae5705f673727d3253de3ed0e016f7cd78dc463db1b31e2463e1f3cf6 \
+    --hash=sha256:e228514a06843cae89621384cfe3a80418f3c04aadf8a3b14e46a7be704e4235 \
+    --hash=sha256:e405adefb53a435f01efa7ccdec012c016b5a1d3f35459990afc39b6be4d5056 \
+    --hash=sha256:e71d5c6ebac14875668a1e90baf2ea0ef5b7ac7918355850c0908ae82bcb297c \
+    --hash=sha256:ed7c635ae45cfbc1a7371f708727bf74690daedc49b4dba310590ca0bd28aa8a \
+    --hash=sha256:f38e60678850c42461d4202739f9bf1e3a737c7ad283638251e79cc49effb6b6 \
+    --hash=sha256:f66eb08feaa410fe4eebd17f2a2c8e2e46d3476e9f8c783daa8e09e0faa666d0 \
+    --hash=sha256:fbd3c8319de8e1dc79d346929cd71d523622da527cca14e0c1d257e31c2b8b10
     # via deprecated
 zensical==0.0.31 \
     --hash=sha256:03fa11e629a308507693489541f43e751697784e94365e7435b02104aefd1c2c \

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/scripts/gen_ts_models.py

@@ -60,7 +60,11 @@ def _schema_to_ts(node: dict, defs: dict) -> str:
             items = [_schema_to_ts(s, defs) for s in node["prefixItems"]]
             return f"[{', '.join(items)}]"
         if "items" in node:
-            return f"{_schema_to_ts(node['items'], defs)}[]"
+            items_node = node["items"]
+            # discriminated union (oneOf + discriminator) → use the FilterEntry alias
+            if "oneOf" in items_node and "discriminator" in items_node:
+                return "FilterEntry[]"
+            return f"{_schema_to_ts(items_node, defs)}[]"
         return "unknown[]"
 
     if t == "object":
@@ -150,6 +154,13 @@ def main() -> None:
 
     blocks: list[str] = []
 
+    # FilterEntry is the structural base for every discriminated filter object;
+    # emitted first so XAxisConfig/YAxisConfig can reference it.
+    blocks.append(
+        "/** a single filter in a filter stack — type-discriminated, open-ended properties. */\n"
+        "export type FilterEntry = { type: string; enabled?: boolean; [key: string]: unknown };\n"
+    )
+
     # Emit each $def in definition order
     for def_name, def_schema in defs.items():
         blocks.append(_def_to_ts(def_name, def_schema, defs))

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/src/mujoco_mojo/__about__.py

@@ -1,3 +1,4 @@
+from datetime import date
 from importlib.metadata import PackageNotFoundError, version
 
 try:
@@ -9,3 +10,5 @@ __author__ = "David Gable"
 __email__ = "dave.a.gable@gmail.com"
 __license__ = "Apache-2.0"
 __summary__ = "A complete MJCF lifecycle and trial orchestration suite for MuJoCo, powered by Pydantic v2."
+__copyright__ = f"© {date.today().year} David Gable"
+__url__ = "https://github.com/Hydrowelder/mujoco-mojo"

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/src/mujoco_mojo/__init__.py

@@ -12,7 +12,7 @@ MuJoCo does not ship Python type stubs. Generate them once with pybind11-stubgen
     pip install pybind11-stubgen
     pybind11-stubgen mujoco -o typings/ --numpy-array-wrap-with-annotated
 
-Run this from the project root. The ``typings/`` directory is gitignored.
+Run this from the project root. The `typings/` directory is gitignored.
 Then add to pyproject.toml:
 
 .. code-block:: toml

mujoco_mojo-2.3.2/src/mujoco_mojo/meta.py

@@ -0,0 +1,11 @@
+from pathlib import Path
+
+from pydantic import HttpUrl
+
+from mujoco_mojo.__about__ import __url__
+
+REPO_URL = HttpUrl(url=__url__)
+"""Link to the remote repo for use with reporting elements."""
+
+MUJOCO_MOJO_DIR: Path = Path.home() / ".mujoco-mojo"
+"""Canonical user-level directory for all mujoco-mojo data (settings, profiles, lab graphs, etc.)."""

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/src/mujoco_mojo/mojo_model.py

@@ -1,8 +1,9 @@
 from __future__ import annotations
 
+from pathlib import Path
 from typing import TypeVar
 
-from pydantic import BaseModel, ConfigDict, Field, SerializeAsAny
+from pydantic import BaseModel, ConfigDict, Field, PrivateAttr, SerializeAsAny
 from stochas import StochasBase
 
 from mujoco_mojo.base import MojoBaseModel
@@ -32,6 +33,22 @@ class MojoModel(MojoBaseModel, StochasBase):
     user_data: SerializeAsAny[UserData] | None = None
     """User defined data for the model. This is used for transferring information from one function to another (generator to runtime or objective function)."""
 
+    _trial_dir: Path | None = PrivateAttr(default=None)
+
+    @property
+    def trial_dir(self) -> Path:
+        """
+        Absolute path to this trial's workspace directory.
+
+        Set automatically after the generator runs. Available in runtime and objective functions. Raises `RuntimeError` if accessed inside the generator, where the directory has not yet been created.
+        """
+        if self._trial_dir is None:
+            raise RuntimeError(
+                "trial_dir is not available inside the generator. "
+                "It is set after generation completes and the workspace is created."
+            )
+        return self._trial_dir
+
     def get_user_data(self, cls: type[T]) -> T:
         """Returns the user_data re-validated into the requested class."""
         if self.user_data is None:

mujoco_mojo-2.3.2/src/mujoco_mojo/runtime/video_recorder.py

@@ -0,0 +1,221 @@
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import TYPE_CHECKING, Self
+
+import mujoco
+
+from mujoco_mojo.typing import CameraName
+from mujoco_mojo.utils.log import get_logger
+from mujoco_mojo.visualization import ArrowConfig, LineConfig
+
+if TYPE_CHECKING:
+    from mujoco_mojo.runtime.runtime_manager import RuntimeManager
+
+logger = get_logger(__name__)
+
+
+@dataclass
+class VideoRecorder:
+    """
+    Records a MuJoCo simulation to a video file.
+
+    Frames are captured at a fixed rate (`fps`) relative to simulation time, not wall-clock time, so the output plays back at the exact rate specified regardless of how fast the simulation runs. The recorder skips `capture_frame` calls that fall between the interval boundaries, which prevents duplicate frames when the physics step is finer than 1/fps.
+
+    Typical usage inside a runtime function::
+
+        recorder = VideoRecorder(
+            path=model.trial_dir / "camera.mp4",
+            camera_name="top_view",
+            fps=30,
+            width=1280,
+            height=720,
+        ).setup(mj_model).register_to_rm(runtime_manager)
+
+    `register_to_rm` wires the recorder into the `RuntimeManager` so that `capture_frame` is called automatically on every physics step and `save` is called when the simulation finishes.
+
+    Supported output formats (determined by the `path` extension):
+
+    - `.mp4`: H.264 via mediapy/ffmpeg; widest browser and player compatibility.
+    - `.webm`: VP9 via ffmpeg; smaller files, fully seekable in the Dojo viewer. Requires ffmpeg with libvpx-vp9 support.
+    - `.gif`: via PIL; no audio, loops automatically; large file size, not seekable.
+
+    Visual overlays (contact forces, net forces, custom arrows/lines) are controlled by the `show_*` flags and the `show_loads` flag passed to `capture_frame`.
+    """
+
+    path: Path
+    """Output file path. The extension determines the container and codec."""
+
+    camera_name: CameraName
+    """Name of the MuJoCo camera to render from (must exist in the model)."""
+
+    show_loads: bool = False
+    """Whether to render custom arrow overlays (passed via `custom_arrows` in `capture_frame`)."""
+
+    show_net_force: bool = False
+    """Whether to render net force visualizations (`mjVIS_PERTFORCE`)."""
+
+    show_contacts: bool = False
+    """Whether to render contact force visualizations (`mjVIS_CONTACTFORCE`)."""
+
+    show_proximities: bool = False
+    """Whether to render custom line overlays (passed via `custom_lines` in `capture_frame`)."""
+
+    fps: int = 30
+    """Target frame rate of the output video. Frames are sampled every `1/fps` seconds of simulation time."""
+
+    width: int = 640
+    """Render width in pixels."""
+
+    height: int = 480
+    """Render height in pixels."""
+
+    _frames: list = field(default_factory=list)
+    _renderer: mujoco.Renderer = field(init=False)
+    _vopt: mujoco.MjvOption = field(default_factory=mujoco.MjvOption, init=False)
+    _next_record_time: float = field(default=0.0, init=False)
+
+    def setup(self, mj_model: mujoco.MjModel) -> Self:
+        """Initializes the MuJoCo renderer for this model. Must be called before the simulation loop."""
+        try:
+            self._renderer = mujoco.Renderer(
+                model=mj_model, height=self.height, width=self.width
+            )
+        except Exception as e:
+            msg = "Failed to initialize the MuJoCo Renderer. If on a server, try setting 'export MUJOCO_GL=egl' in your terminal."
+            logger.error(msg)
+            raise RuntimeError(msg) from e
+
+        # initialize the vopt with defaults
+        mujoco.mjv_defaultOption(self._vopt)
+
+        # whether or not to show debug graphics
+        self._vopt.flags[mujoco.mjtVisFlag.mjVIS_PERTFORCE] = int(self.show_net_force)
+        self._vopt.flags[mujoco.mjtVisFlag.mjVIS_CONTACTFORCE] = int(self.show_contacts)
+        return self
+
+    def capture_frame(
+        self,
+        mj_model: mujoco.MjModel,
+        mj_data: mujoco.MjData,
+        custom_arrows: list[ArrowConfig],
+        custom_lines: list[LineConfig],
+    ):
+        """Captures the current state as a video frame."""
+        if mj_data.time < self._next_record_time:
+            return
+
+        # update standard mujoco objects in scene
+        self._renderer.update_scene(
+            data=mj_data,
+            camera=self.camera_name,
+            scene_option=self._vopt,
+        )
+
+        if custom_arrows and self.show_loads:
+            for arrow in custom_arrows:
+                arrow.draw_in_scene(mj_model, self._renderer.scene)
+
+        if custom_lines and self.show_proximities:
+            for line in custom_lines:
+                line.draw_in_scene(self._renderer.scene)
+
+        # capture and increment the clock for the next frame
+        self._frames.append(self._renderer.render())
+        self._next_record_time += 1 / self.fps
+
+    def save(self):
+        """
+        Writes the captured frames to a video file.
+
+        Supported formats:
+        - `.mp4` — H.264 via mediapy/ffmpeg; universally compatible.
+        - `.webm` — VP9 via mediapy/ffmpeg; smaller files and fully seekable.
+        - `.gif` — via PIL; no audio, loops automatically, large file size, not seekable.
+
+        The output format is determined by the extension of `path`.
+        """
+        if not self._frames:
+            return
+        import mediapy as media
+
+        if self.path.suffix.lower() == ".gif":
+            from PIL import Image
+
+            # convert arrays to PIL images
+            pil_images = [Image.fromarray(frame) for frame in self._frames]
+
+            # save gif
+            pil_images[0].save(
+                self.path,
+                save_all=True,
+                append_images=pil_images[1:],
+                duration=int(1000 / self.fps),  # ms per frame
+                loop=0,  # loop forever
+            )
+        elif self.path.suffix.lower() == ".webm":
+            self._save_webm()
+        else:
+            media.write_video(path=self.path, images=self._frames, fps=self.fps)
+        logger.info(f"Video saved to {self.path}")
+
+    def _save_webm(self) -> None:
+        """Encodes frames to VP9 WebM by piping raw RGB directly to ffmpeg (no intermediate file)."""
+        import subprocess
+
+        h_raw, w_raw = self._frames[0].shape[:2]
+        # yuv420p requires even dimensions
+        w = w_raw - (w_raw % 2)
+        h = h_raw - (h_raw % 2)
+
+        proc = subprocess.Popen(
+            [
+                "ffmpeg",
+                "-y",
+                "-f",
+                "rawvideo",
+                "-vcodec",
+                "rawvideo",
+                "-s",
+                f"{w}x{h}",
+                "-pix_fmt",
+                "rgb24",
+                "-r",
+                str(self.fps),
+                "-i",
+                "pipe:0",
+                "-c:v",
+                "libvpx-vp9",
+                "-b:v",
+                "0",
+                "-crf",
+                "33",
+                "-cpu-used",
+                "2",  # 0=slowest/best ... 8=fastest/worst; 4 is a good balance
+                "-row-mt",
+                "1",  # row-based multithreading
+                "-threads",
+                "0",  # use all available cores
+                "-an",
+                "-pix_fmt",
+                "yuv420p",
+                str(self.path),
+            ],
+            stdin=subprocess.PIPE,
+            stderr=subprocess.DEVNULL,
+        )
+        try:
+            assert proc.stdin is not None
+            for frame in self._frames:
+                proc.stdin.write(frame[:h, :w].tobytes())
+            proc.stdin.close()
+            if proc.wait() != 0:
+                raise RuntimeError(
+                    f"ffmpeg exited with a non-zero status while encoding {self.path}"
+                )
+        except Exception:
+            proc.kill()
+            raise
+
+    def register_to_rm(self, runtime_manager: "RuntimeManager") -> Self:
+        runtime_manager.add_video_recorder(self)
+        return self

mujoco_mojo-2.3.2/src/mujoco_mojo/settings.py

@@ -0,0 +1,70 @@
+"""Global user settings for mujoco_mojo, persisted to ~/.mujoco-mojo/settings.toml."""
+
+from __future__ import annotations
+
+import tomli_w
+from pydantic import BaseModel, Field, SecretStr, field_serializer
+from pydantic_settings import (
+    BaseSettings,
+    PydanticBaseSettingsSource,
+    SettingsConfigDict,
+    TomlConfigSettingsSource,
+)
+
+from mujoco_mojo.meta import MUJOCO_MOJO_DIR
+
+SETTINGS_DIR = MUJOCO_MOJO_DIR
+SETTINGS_FILE = SETTINGS_DIR / "settings.toml"
+
+
+class SensAISettings(BaseModel):
+    """Settings for the SensAI assistant embedded in the Dojo dashboard."""
+
+    model_name: str = Field(default="qwen2.5:0.5b")
+    """Ollama model identifier (e.g. `qwen2.5:0.5b`, `llama3.2:3b`)."""
+
+    base_url: str = Field(default="http://localhost:11434/v1")
+    """Base URL for the OpenAI-compatible endpoint. Defaults to local Ollama."""
+
+    api_key: SecretStr = Field(default=SecretStr("ollama"))
+    """API key sent with each request. For real keys prefer the `MUJOCO_MOJO_SENSAI__API_KEY` env var over storing here. Ollama ignores the value but the client requires a non-empty string."""
+
+    enabled: bool = Field(default=False)
+    """Whether SensAI is active. Opt-in; toggled from the dashboard."""
+
+    @field_serializer("api_key")
+    def _serialize_api_key(self, v: SecretStr) -> str:
+        return v.get_secret_value()
+
+
+class MujocoMojoSettings(BaseSettings):
+    """
+    Global user-level settings persisted to ~/.mujoco-mojo/settings.toml.
+
+    Instantiate to load. Sources are checked in priority order: constructor kwargs > environment variables > TOML file > defaults. Environment variables use the prefix `MUJOCO_MOJO_` with `__` as the nested delimiter, e.g. `MUJOCO_MOJO_SENSAI__MODEL_NAME=llama3.2:3b`.
+    """
+
+    model_config = SettingsConfigDict(
+        toml_file=SETTINGS_FILE,
+        env_prefix="MUJOCO_MOJO_",
+        env_nested_delimiter="__",
+    )
+
+    sensai: SensAISettings = Field(default_factory=SensAISettings)
+    """Settings for the SensAI assistant."""
+
+    @classmethod
+    def settings_customise_sources(
+        cls,
+        settings_cls: type[BaseSettings],
+        init_settings: PydanticBaseSettingsSource,
+        env_settings: PydanticBaseSettingsSource,
+        dotenv_settings: PydanticBaseSettingsSource,
+        file_secret_settings: PydanticBaseSettingsSource,
+    ) -> tuple[PydanticBaseSettingsSource, ...]:
+        return (init_settings, env_settings, TomlConfigSettingsSource(settings_cls))
+
+    def save(self) -> None:
+        """Persist current settings to ~/.mujoco-mojo/settings.toml."""
+        SETTINGS_DIR.mkdir(parents=True, exist_ok=True)
+        SETTINGS_FILE.write_bytes(tomli_w.dumps(self.model_dump()).encode())

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/src/mujoco_mojo/typing.py

@@ -309,6 +309,7 @@ class SignalCategory(StrEnum):
     DEFORMABLES = "Deformables"
     PROXIMITIES = "Proximities"
     CUSTOM = "Custom"
+    LAB = "Lab"
 
 
 class EulerSeq(StrEnum):

{mujoco_mojo-2.3.0 → mujoco_mojo-2.3.2}/src/mujoco_mojo/utils/dataframe.py

@@ -104,9 +104,16 @@ else:
 
 
 class ColumnManifest(TypedDict):
+    """Manifest of all columns available for plotting."""
+
     all: list[str]
+    """Manifest of all columns available for plotting."""
+
     rotatable_vectors: list[str]
+    """All columns in self.all which are available be rotated using self.available_quats."""
+
     available_quats: list[str]
+    """All quaternion names which have enough information to rotate self.rotateable_vectors."""
 
 
 class MojoNamespace: