mujoco-mojo 2.4.2__tar.gz → 2.4.3__tar.gz

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: mujoco-mojo
-Version: 2.4.2
+Version: 2.4.3
 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/
@@ -51,7 +51,7 @@ Requires-Dist: rtree>=1.4.1
 Requires-Dist: scipy-stubs[scipy]>=1.17.0.2
 Requires-Dist: scipy>=1.17.0
 Requires-Dist: sse-starlette>=3.3.4
-Requires-Dist: stochas>=2.1.4
+Requires-Dist: stochas>=2.1.5
 Requires-Dist: tabulate>=0.9.0
 Requires-Dist: tomli-w>=1.2.0
 Requires-Dist: trimesh>=4.11.2

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/pyproject.toml

@@ -27,7 +27,7 @@ dependencies = [
     "rich>=14.3.3",
     "scipy>=1.17.0",
     "scipy-stubs[scipy]>=1.17.0.2",
-    "stochas>=2.1.4",
+    "stochas>=2.1.5",
     "sse-starlette>=3.3.4",
     "tabulate>=0.9.0",
     "trimesh>=4.11.2",

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/src/mujoco_mojo/mjcf/mujoco_attr/body_attr/inertial.py

@@ -12,7 +12,7 @@ from mujoco_mojo.mjcf.orientation import (
 )
 from mujoco_mojo.mjcf.position import Pos
 from mujoco_mojo.mjcf.xml_model import XMLModel
-from mujoco_mojo.stochas import Dist, Distribution, NamedValue
+from mujoco_mojo.stochas import AnyDist, Distribution, NamedValue
 from mujoco_mojo.typing import EulerSeq, Mat3, Vec3, Vec6
 from mujoco_mojo.utils.log import get_logger
 
@@ -383,22 +383,24 @@ class Inertial(XMLModel):
     def from_random(
         cls,
         mojo_model: MojoModel,
-        mass: float | Dist,
-        pos: Vec3 | tuple[float | Dist, float | Dist, float | Dist] | Pos,
+        mass: float | AnyDist,
+        pos: Vec3 | tuple[float | AnyDist, float | AnyDist, float | AnyDist] | Pos,
         diaginertia: Vec3
-        | tuple[float | Dist, float | Dist, float | Dist]
+        | tuple[float | AnyDist, float | AnyDist, float | AnyDist]
         | None = None,
         fullinertia: Vec6
         | tuple[
-            float | Dist,
-            float | Dist,
-            float | Dist,
-            float | Dist,
-            float | Dist,
-            float | Dist,
+            float | AnyDist,
+            float | AnyDist,
+            float | AnyDist,
+            float | AnyDist,
+            float | AnyDist,
+            float | AnyDist,
         ]
         | None = None,
-        orientation: tuple[type[OrientationBase], list[float | Dist], EulerSeq | None]
+        orientation: tuple[
+            type[OrientationBase], list[float | AnyDist], EulerSeq | None
+        ]
         | AnyOrientation
         | None = None,
         max_retries: int = 10,
@@ -411,11 +413,11 @@ class Inertial(XMLModel):
 
         Args:
             mojo_model (MojoModel): The MojoModel instance for sampling and registration.
-            mass (float | Dist): Mass value or distribution.
-            pos (Vec3 | tuple[float  |  Dist, float  |  Dist, float  |  Dist]): Position vector or tuple of component distributions.
-            diaginertia (Vec3 | tuple[float  |  Dist, float  |  Dist, float  |  Dist] | None, optional): Principal moments or tuple of component distributions. Defaults to None.
-            fullinertia (Vec6 | tuple[ float  |  Dist, float  |  Dist, float  |  Dist, float  |  Dist, float  |  Dist, float  |  Dist, ] | None, optional): Full inertia vector or tuple of component distributions. Defaults to None.
-            orientation (tuple[type[OrientationBase], list[float | Dist], EulerSeq | None] | Orientation | None, optional): Orientation for the inertial frame. Defaults to None.
+            mass (float | AnyDist): Mass value or distribution.
+            pos (Vec3 | tuple[float  |  AnyDist, float  |  AnyDist, float  |  AnyDist]): Position vector or tuple of component distributions.
+            diaginertia (Vec3 | tuple[float  |  AnyDist, float  |  AnyDist, float  |  AnyDist] | None, optional): Principal moments or tuple of component distributions. Defaults to None.
+            fullinertia (Vec6 | tuple[ float  |  AnyDist, float  |  AnyDist, float  |  AnyDist, float  |  AnyDist, float  |  AnyDist, float  |  AnyDist, ] | None, optional): Full inertia vector or tuple of component distributions. Defaults to None.
+            orientation (tuple[type[OrientationBase], list[float | AnyDist], EulerSeq | None] | Orientation | None, optional): Orientation for the inertial frame. Defaults to None.
             max_retries (int, optional): Maximum number of re-samples on physics failure. Defaults to 10.
             reset_rng (bool, optional): Whether or not to reset the seed and trial number for the distribution. Setting the seed and trial number will reset the random number cycle. This will not skip registering the distribution or NamedValues to the MojoModel. If you want pseudorandom number generation, setting to False will require you to manually set the seed and trial number before passing the distribution into `from_random`. Defaults to True.
 
@@ -451,7 +453,7 @@ class Inertial(XMLModel):
                             )
 
                         # register the distribution for serialization
-                        mojo_model.dists[item.name] = cast(Dist, item)
+                        mojo_model.dists[item.name] = cast(AnyDist, item)
             elif isinstance(input_val, Distribution):
                 if not reset_rng:
                     input_val.with_seed(mojo_model.seed).with_trial_num(
@@ -459,7 +461,7 @@ class Inertial(XMLModel):
                     )
 
                 # register the distribution for serialization
-                mojo_model.dists[input_val.name] = cast(Dist, input_val)
+                mojo_model.dists[input_val.name] = cast(AnyDist, input_val)
 
         _seed_dist(mass)
         _seed_dist(pos)
@@ -475,7 +477,7 @@ class Inertial(XMLModel):
             resolved_values = []
             pending_named_values = []
 
-            # case 1: tuple/list of components [(Dist|float), ...]
+            # case 1: tuple/list of components [(AnyDist|float), ...]
             if isinstance(input_val, (list, tuple)):
                 for item in input_val:
                     if isinstance(item, Distribution):

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/src/mujoco_mojo/stochas/__init__.py

@@ -1,9 +1,16 @@
 from stochas import (
     NOMINAL_TRIAL_NUM,
+    AnyDesignValue,
+    AnyDist,
     BaseDict,
     BaseList,
     BernoulliDistribution,
+    BetaBinomialDistribution,
+    BetaDistribution,
+    BinomialDistribution,
     CategoricalDistribution,
+    CauchyDistribution,
+    ChiSquaredDistribution,
     DesignBool,
     DesignCategorical,
     DesignFloat,
@@ -11,33 +18,49 @@ from stochas import (
     DesignValueDict,
     DesignValueList,
     DiscreteUniformDistribution,
-    Dist,
     DistName,
     Distribution,
     DistributionDict,
     DistributionList,
     ExponentialDistribution,
+    FDistribution,
+    GammaDistribution,
+    GeometricDistribution,
+    HypergeometricDistribution,
+    LaplaceDistribution,
+    LogisticDistribution,
     LogNormalDistribution,
     NamedValue,
     NamedValueDict,
     NamedValueList,
     NamedValueState,
+    NegativeBinomialDistribution,
     NormalDistribution,
+    ParetoDistribution,
     PermutationDistribution,
     PoissonDistribution,
     RayleighDistribution,
+    StudentTDistribution,
     TriangularDistribution,
     TruncatedNormalDistribution,
     UniformDistribution,
     ValueName,
+    WeibullDistribution,
 )
 
 __all__ = [
     "NOMINAL_TRIAL_NUM",
+    "AnyDesignValue",
+    "AnyDist",
     "BaseDict",
     "BaseList",
     "BernoulliDistribution",
+    "BetaBinomialDistribution",
+    "BetaDistribution",
+    "BinomialDistribution",
     "CategoricalDistribution",
+    "CauchyDistribution",
+    "ChiSquaredDistribution",
     "DesignBool",
     "DesignCategorical",
     "DesignFloat",
@@ -45,23 +68,32 @@ __all__ = [
     "DesignValueDict",
     "DesignValueList",
     "DiscreteUniformDistribution",
-    "Dist",
     "DistName",
     "Distribution",
     "DistributionDict",
     "DistributionList",
     "ExponentialDistribution",
+    "FDistribution",
+    "GammaDistribution",
+    "GeometricDistribution",
+    "HypergeometricDistribution",
+    "LaplaceDistribution",
     "LogNormalDistribution",
+    "LogisticDistribution",
     "NamedValue",
     "NamedValueDict",
     "NamedValueList",
     "NamedValueState",
+    "NegativeBinomialDistribution",
     "NormalDistribution",
+    "ParetoDistribution",
     "PermutationDistribution",
     "PoissonDistribution",
     "RayleighDistribution",
+    "StudentTDistribution",
     "TriangularDistribution",
     "TruncatedNormalDistribution",
     "UniformDistribution",
     "ValueName",
+    "WeibullDistribution",
 ]

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/src/mujoco_mojo/utils/layers/cli.py

@@ -701,13 +701,13 @@ def run_monte_carlo(
 
     logger.info("Initializing Monte Carlo with CLI!")
 
-    dojo_cmd = f"mujoco-mojo dojo {workdir}"
+    dojo_cmd = f'mujoco-mojo dojo "{workdir}"'
     console.print(
         Panel(
             "[bold green]Campaign Initialized![/]\n\n"
             "[white]To monitor progress and view results, run:[/]\n"
             f"    [bold yellow]{dojo_cmd}[/]",
-            title="[cyan]Launch Control[/]",
+            title="[cyan]Monte Carlo Initialized[/]",
             expand=False,
             border_style="cyan",
         )
@@ -850,13 +850,13 @@ def run_single(
 
     logger.info("Initializing single trial with CLI!")
 
-    dojo_cmd = f"mujoco-mojo dojo {workdir}"
+    dojo_cmd = f'mujoco-mojo dojo "{workdir}"'
     console.print(
         Panel(
             "[bold green]Trial Ready![/]\n\n"
             "[white]To monitor progress and view results, run:[/]\n"
             f"    [bold yellow]{dojo_cmd}[/]",
-            title="[cyan]Launch Control[/]",
+            title="[cyan]Single Run Initialized[/]",
             expand=False,
             border_style="cyan",
         )
@@ -1389,7 +1389,7 @@ def run_optimizer(
 
     workdir = workdir.resolve()
 
-    dojo_cmd = f"mujoco-mojo dojo {workdir}"
+    dojo_cmd = f'mujoco-mojo dojo "{workdir}"'
     console.print(
         Panel(
             f"[bold green]Optimization Engine Engaged![/]\n\n"
@@ -1398,7 +1398,7 @@ def run_optimizer(
             f"[white]Sampler:[/]    [yellow]{sampler}[/]\n\n"
             f"[white]To monitor live progress, run:[/]\n"
             f"    [bold yellow]{dojo_cmd}[/]",
-            title="[cyan]Optimizer Launch Control[/]",
+            title="[cyan]Optimizer Initialized[/]",
             expand=False,
             border_style="cyan",
         )

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/src/mujoco_mojo/utils/layers/dojo/routers/mosaic.py

@@ -1069,7 +1069,7 @@ def _parse_log_file(log_path: Path) -> list[dict]:
     return entries
 
 
-def _chart_data(dist: stochas.Dist) -> dict:
+def _chart_data(dist: stochas.AnyDist) -> dict:
     """
     Return chart data for the distribution tooltip.
 
@@ -1126,8 +1126,12 @@ def _chart_data(dist: stochas.Dist) -> dict:
                 "cat_probs": [],
                 "is_discrete": True,
             }
-        x_low = float(dist.ppf(0.001))
-        x_high = float(dist.ppf(0.999))
+        if isinstance(dist, stochas.CauchyDistribution):
+            x_low = dist.theta - 5 * dist.sigma
+            x_high = dist.theta + 5 * dist.sigma
+        else:
+            x_low = float(dist.ppf(0.001))
+            x_high = float(dist.ppf(0.999))
         x = np.linspace(x_low, x_high, n)
         pdf_y = np.asarray(dist.pdf(x), dtype=float)
         cdf_y = np.asarray(dist.cdf(x), dtype=float)
@@ -1155,7 +1159,7 @@ def _chart_data(dist: stochas.Dist) -> dict:
 
 
 def _stat(
-    dist: stochas.Dist, sampled: float | None
+    dist: stochas.AnyDist, sampled: float | None
 ) -> tuple[float | None, float | None]:
     """
     Return (z_score, percentile) for a sampled value against a distribution.

{mujoco_mojo-2.4.2 → mujoco_mojo-2.4.3}/src/mujoco_mojo/utils/layers/reloaded.py

@@ -769,7 +769,7 @@ class MojoReloaded:
                 )
                 self._print(
                     "[dim]Run this in another terminal to monitor this session:[/dim]\n"
-                    f"[bold cyan]mujoco-mojo dojo {self.workdir}[/bold cyan]"
+                    f'[bold cyan]mujoco-mojo dojo "{self.workdir}"[/bold cyan]'
                     f"{hint}"
                 )
                 continue