mujoco-uni-runtime 0.2.1__tar.gz

mujoco_uni_runtime-0.2.1/LICENSE

@@ -0,0 +1,201 @@
+Apache License
+Version 2.0, January 2004
+http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1. Definitions.
+
+   "License" shall mean the terms and conditions for use, reproduction,
+   and distribution as defined by Sections 1 through 9 of this document.
+
+   "Licensor" shall mean the copyright owner or entity authorized by
+   the copyright owner that is granting the License.
+
+   "Legal Entity" shall mean the union of the acting entity and all
+   other entities that control, are controlled by, or are under common
+   control with that entity. For the purposes of this definition,
+   "control" means (i) the power, direct or indirect, to cause the
+   direction or management of such entity, whether by contract or
+   otherwise, or (ii) ownership of fifty percent (50%) or more of the
+   outstanding shares, or (iii) beneficial ownership of such entity.
+
+   "You" (or "Your") shall mean an individual or Legal Entity
+   exercising permissions granted by this License.
+
+   "Source" form shall mean the preferred form for making modifications,
+   including but not limited to software source code, documentation
+   source, and configuration files.
+
+   "Object" form shall mean any form resulting from mechanical
+   transformation or translation of a Source form, including but
+   not limited to compiled object code, generated documentation,
+   and conversions to other media types.
+
+   "Work" shall mean the work of authorship, whether in Source or
+   Object form, made available under the License, as indicated by a
+   copyright notice that is included in or attached to the work
+   (an example is provided in the Appendix below).
+
+   "Derivative Works" shall mean any work, whether in Source or Object
+   form, that is based on (or derived from) the Work and for which the
+   editorial revisions, annotations, elaborations, or other modifications
+   represent, as a whole, an original work of authorship. For the purposes
+   of this License, Derivative Works shall not include works that remain
+   separable from, or merely link (or bind by name) to the interfaces of,
+   the Work and Derivative Works thereof.
+
+   "Contribution" shall mean any work of authorship, including
+   the original version of the Work and any modifications or additions
+   to that Work or Derivative Works thereof, that is intentionally
+   submitted to Licensor for inclusion in the Work by the copyright owner
+   or by an individual or Legal Entity authorized to submit on behalf of
+   the copyright owner. For the purposes of this definition, "submitted"
+   means any form of electronic, verbal, or written communication sent
+   to the Licensor or its representatives, including but not limited to
+   communication on electronic mailing lists, source code control systems,
+   and issue tracking systems that are managed by, or on behalf of, the
+   Licensor for the purpose of discussing and improving the Work, but
+   excluding communication that is conspicuously marked or otherwise
+   designated in writing by the copyright owner as "Not a Contribution."
+
+   "Contributor" shall mean Licensor and any individual or Legal Entity
+   on behalf of whom a Contribution has been received by Licensor and
+   subsequently incorporated within the Work.
+
+2. Grant of Copyright License. Subject to the terms and conditions of
+   this License, each Contributor hereby grants to You a perpetual,
+   worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+   copyright license to reproduce, prepare Derivative Works of,
+   publicly display, publicly perform, sublicense, and distribute the
+   Work and such Derivative Works in Source or Object form.
+
+3. Grant of Patent License. Subject to the terms and conditions of
+   this License, each Contributor hereby grants to You a perpetual,
+   worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+   (except as stated in this section) patent license to make, have made,
+   use, offer to sell, sell, import, and otherwise transfer the Work,
+   where such license applies only to those patent claims licensable
+   by such Contributor that are necessarily infringed by their
+   Contribution(s) alone or by combination of their Contribution(s)
+   with the Work to which such Contribution(s) was submitted. If You
+   institute patent litigation against any entity (including a
+   cross-claim or counterclaim in a lawsuit) alleging that the Work
+   or a Contribution incorporated within the Work constitutes direct
+   or contributory patent infringement, then any patent licenses
+   granted to You under this License for that Work shall terminate
+   as of the date such litigation is filed.
+
+4. Redistribution. You may reproduce and distribute copies of the
+   Work or Derivative Works thereof in any medium, with or without
+   modifications, and in Source or Object form, provided that You
+   meet the following conditions:
+
+   (a) You must give any other recipients of the Work or
+       Derivative Works a copy of this License; and
+
+   (b) You must cause any modified files to carry prominent notices
+       stating that You changed the files; and
+
+   (c) You must retain, in the Source form of any Derivative Works
+       that You distribute, all copyright, patent, trademark, and
+       attribution notices from the Source form of the Work,
+       excluding those notices that do not pertain to any part of
+       the Derivative Works; and
+
+   (d) If the Work includes a "NOTICE" text file as part of its
+       distribution, then any Derivative Works that You distribute must
+       include a readable copy of the attribution notices contained
+       within such NOTICE file, excluding those notices that do not
+       pertain to any part of the Derivative Works, in at least one
+       of the following places: within a NOTICE text file distributed
+       as part of the Derivative Works; within the Source form or
+       documentation, if provided along with the Derivative Works; or,
+       within a display generated by the Derivative Works, if and
+       wherever such third-party notices normally appear. The contents
+       of the NOTICE file are for informational purposes only and
+       do not modify the License. You may add Your own attribution
+       notices within Derivative Works that You distribute, alongside
+       or as an addendum to the NOTICE text from the Work, provided
+       that such additional attribution notices cannot be construed
+       as modifying the License.
+
+   You may add Your own copyright statement to Your modifications and
+   may provide additional or different license terms and conditions
+   for use, reproduction, or distribution of Your modifications, or
+   for any such Derivative Works as a whole, provided Your use,
+   reproduction, and distribution of the Work otherwise complies with
+   the conditions stated in this License.
+
+5. Submission of Contributions. Unless You explicitly state otherwise,
+   any Contribution intentionally submitted for inclusion in the Work
+   by You to the Licensor shall be under the terms and conditions of
+   this License, without any additional terms or conditions.
+   Notwithstanding the above, nothing herein shall supersede or modify
+   the terms of any separate license agreement you may have executed
+   with Licensor regarding such Contributions.
+
+6. Trademarks. This License does not grant permission to use the trade
+   names, trademarks, service marks, or product names of the Licensor,
+   except as required for reasonable and customary use in describing the
+   origin of the Work and reproducing the content of the NOTICE file.
+
+7. Disclaimer of Warranty. Unless required by applicable law or
+   agreed to in writing, Licensor provides the Work (and each
+   Contributor provides its Contributions) on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+   implied, including, without limitation, any warranties or conditions
+   of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+   PARTICULAR PURPOSE. You are solely responsible for determining the
+   appropriateness of using or redistributing the Work and assume any
+   risks associated with Your exercise of permissions under this License.
+
+8. Limitation of Liability. In no event and under no legal theory,
+   whether in tort (including negligence), contract, or otherwise,
+   unless required by applicable law (such as deliberate and grossly
+   negligent acts) or agreed to in writing, shall any Contributor be
+   liable to You for damages, including any direct, indirect, special,
+   incidental, or consequential damages of any character arising as a
+   result of this License or out of the use or inability to use the
+   Work (including but not limited to damages for loss of goodwill,
+   work stoppage, computer failure or malfunction, or any and all
+   other commercial damages or losses), even if such Contributor
+   has been advised of the possibility of such damages.
+
+9. Accepting Warranty or Additional Liability. While redistributing
+   the Work or Derivative Works thereof, You may choose to offer,
+   and charge a fee for, acceptance of support, warranty, indemnity,
+   or other liability obligations and/or rights consistent with this
+   License. However, in accepting such obligations, You may act only
+   on Your own behalf and on Your sole responsibility, not on behalf
+   of any other Contributor, and only if You agree to indemnify,
+   defend, and hold each Contributor harmless for any liability
+   incurred by, or claims asserted against, such Contributor by reason
+   of your accepting any such warranty or additional liability.
+
+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
+   boilerplate notice, with the fields enclosed by brackets "[]"
+   replaced with your own identifying information. (Don't include
+   the brackets!) The text should be enclosed in the appropriate
+   comment syntax for the file format. We also recommend that a
+   file or class name and description of purpose be included on the
+   same "printed page" as the copyright notice for easier
+   identification within third-party archives.
+
+Copyright [yyyy] [name of copyright owner]
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+    http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

mujoco_uni_runtime-0.2.1/MANIFEST.in

@@ -0,0 +1 @@
+recursive-include src/mujoco_uni/native *.cc *.h

mujoco_uni_runtime-0.2.1/PKG-INFO

@@ -0,0 +1,396 @@
+Metadata-Version: 2.4
+Name: mujoco-uni-runtime
+Version: 0.2.1
+Summary: Standalone MuJoCoUni batched executor layer
+License: Apache-2.0
+Requires-Python: <3.14,>=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: mujoco<3.11,>=3.5
+Requires-Dist: numpy
+Dynamic: license-file
+
+# MuJoCoUni
+
+English | [简体中文](README_zh.md)
+
+MuJoCoUni is the standalone UniLab batch-executor layer for official MuJoCo.
+It provides the `BatchEnvPool` API used by UniLab without modifying MuJoCo
+solver, contact, integrator, or source-tree internals.
+
+## System Boundary
+
+MuJoCoUni sits between UniLab and official MuJoCo.
+
+```text
+MJCF / XML asset
+        |
+        v
+official MuJoCo compiler
+        |
+        v
+mjModel
+        |
+        v
+MuJoCoUni BatchEnvPool
+  - captures/copies mjModel
+  - owns model pool
+  - owns worker mjData
+  - calls official MuJoCo C APIs
+        ^
+        |
+UniLab backend
+  - receives task/training command
+  - owns rollout pace
+  - packs state/control/reset arrays
+  - unpacks state/sensor arrays
+```
+
+Responsibility split:
+
+```text
+UniLab:
+  task config, commands, rewards, rollout pace, CPU/GPU bridge,
+  training orchestration, logging
+
+MuJoCoUni:
+  BatchEnvPool, model cloning, worker mjData, local thread pool,
+  batched step/forward/reset/query execution
+
+MuJoCo:
+  MJCF compiler, mjModel/mjData definitions, solver, contact,
+  integrator, sensor layout, official C API
+```
+
+For larger CPU/GPU training, UniLab remains the bridge above local MuJoCoUni
+executors:
+
+```text
+CPU rollout side
+  MuJoCoUni BatchEnvPool instances
+  produce observation/reward/done/sensor data
+  request action tensors
+        |
+        v
+UniLab bridge
+  batches rollout traffic
+  routes data toward GPU learner/action service
+  routes actions/control commands back to CPU workers
+        |
+        v
+GPU side
+  consumes training data
+  performs learner/inference work
+  returns action tensors or policy-side feedback through UniLab
+```
+
+## Version Policy
+
+MuJoCoUni has its own package version, independent of the MuJoCo solver version.
+
+Current release:
+
+```text
+mujoco-uni-runtime==0.2.1
+mujoco>=3.5,<3.11
+```
+
+The public metadata is available from Python:
+
+```python
+import mujoco_uni
+
+print(mujoco_uni.__version__)
+print(mujoco_uni.MUJOCO_VERSION)
+print(mujoco_uni.MUJOCO_VERSION_SPEC)
+```
+
+MuJoCoUni supports one official MuJoCo solver version per Python environment.
+The native extension records the MuJoCo version used at build time, and the
+runtime fails fast if the loaded `mujoco` package does not match that native
+build target.
+
+Version switching is active but process-level: MuJoCoUni selects an existing
+versioned uv environment, then runs the target command in that environment
+before Python imports `mujoco`. Normal training launch does not create, install,
+or rebuild environments.
+
+```text
+env-mj35  -> mujoco==3.5.x  -> build/install mujoco-uni-runtime
+env-mj36  -> mujoco==3.6.x  -> build/install mujoco-uni-runtime
+env-mj37  -> mujoco==3.7.x  -> build/install mujoco-uni-runtime
+env-mj38  -> mujoco==3.8.x  -> build/install mujoco-uni-runtime
+env-mj39  -> mujoco==3.9.x  -> build/install mujoco-uni-runtime
+env-mj310 -> mujoco==3.10.x -> build/install mujoco-uni-runtime
+```
+
+Default and fallback selection prefer discovered environments in this order:
+
+```text
+3.8 > 3.10 > 3.9 > 3.7 > 3.6 > 3.5
+```
+
+If the requested version is not found, MuJoCoUni prints a warning and falls back
+to the preferred existing environment. If no MuJoCo environment exists, launch
+fails with a clear setup error.
+
+For UniLab training, the normal task command is the only user-facing launcher.
+Set the process selector when running the command:
+
+```bash
+MUJOCO_UNI_VERSION=3.8 uv run train --algo ppo --task go2_joystick_flat --sim mujoco
+MUJOCO_UNI_VERSION=3.10 uv run train --algo ppo --task go2_joystick_flat --sim mujoco
+```
+
+Unset `MUJOCO_UNI_VERSION` keeps the active Python environment behavior. Exact
+requests such as `3.8.0` require that exact runtime; minor requests such as
+`3.8` accept a compatible `3.8.x` runtime.
+
+MuJoCoUni owns the internal discovery and spawning services used by UniLab.
+Explicit environment preparation is a setup operation, not part of the normal
+training launch path.
+
+The required MuJoCo Python model pointer helpers, `_address` and
+`_from_model_ptr`, are checked at import time.
+
+## Roadmap
+
+Further development is tracked in [ROADMAP.md](ROADMAP.md).
+
+## Package Layout
+
+The structure mirrors the DrakeUni split between runtime code, native source,
+and compiled artifacts:
+
+```text
+src/mujoco_uni/
+  __init__.py
+  metadata.py              # MuJoCoUni package metadata and supported range
+  batch_env.py              # Stable public BatchEnvPool API
+  mujoco_runtime/
+    api.py                  # MuJoCoUni-owned access to official mujoco
+    version_control.py      # MuJoCo solver-version control
+  runtime/
+    batch.py                # Python API, validation, compatibility behavior
+  compiled/
+    __init__.py             # Native extension loader and diagnostics
+    _batch_env*.so          # Generated extension after local build
+  native/
+    batch_env.cc            # Native pybind11 executor
+    threadpool.h/.cc        # Local thread pool
+```
+
+The stable import path is:
+
+```python
+from mujoco_uni.batch_env import BatchEnvPool, SUPPORTED_FIELDS
+```
+
+## Execution Model
+
+`BatchEnvPool` accepts one `mujoco.MjModel` or a compatible sequence of
+`mujoco.MjModel` objects. At construction time it reads the official MuJoCo
+model pointer from Python, copies the model with `mj_copyModel`, and stores
+pool-owned models internally.
+
+The hot path is native C++ calling the official MuJoCo C API. The pool uses:
+
+- one logical pool-owned `mjModel` assignment per environment slot,
+- one reusable `mjData` per worker thread,
+- disjoint environment chunks,
+- disjoint output slots,
+- one synchronization point per batch operation.
+
+There is no MPI or OpenMP inside the base `BatchEnvPool` executor. Large-scale
+multi-process, multi-socket, or multi-node collection composes multiple local
+executors from a layer above `BatchEnvPool`.
+
+## Public API
+
+The stable public API is `mujoco_uni.batch_env`.
+
+Exported symbols:
+
+- `BatchEnvPool`
+- `SUPPORTED_FIELDS`
+- `batch_available`
+- `batch_import_error`
+
+Supported randomization/model fields:
+
+```text
+body_mass
+body_ipos
+body_iquat
+body_inertia
+dof_armature
+gravity
+geom_friction
+kp
+kd
+```
+
+Core `BatchEnvPool` behavior:
+
+- construct from one model or a sequence of length `1` / `nbatch`,
+- `step` over the full pool and return final state, optionally with final
+  sensor data,
+- `forward` over the full pool and return sensor data,
+- sparse `reset` with optional model-field randomization,
+- site Jacobian queries,
+- hfield height sampling,
+- non-owning model views through `get_model`, `get_models`, and
+  `get_all_models`.
+
+Returned model views remain valid only while the pool is alive.
+
+## Installation
+
+MuJoCoUni is published on PyPI as `mujoco-uni-runtime` (source distribution):
+
+```bash
+pip install "mujoco>=3.5,<3.11" pybind11 numpy setuptools wheel
+pip install mujoco-uni-runtime --no-build-isolation
+```
+
+There are no prebuilt wheels on purpose: the native extension is compiled
+against the `mujoco` package present at build time and refuses to load against
+any other MuJoCo version, so a prebuilt wheel would silently bind you to one
+MuJoCo release. Building from source requires a C++17 toolchain. Install with
+`--no-build-isolation` (as above) so the extension is compiled against the
+`mujoco` version of your target environment instead of a throwaway isolated
+one.
+
+uv projects declare the same setup:
+
+```toml
+[project.optional-dependencies]
+mujoco = ["mujoco>=3.5,<3.11", "mujoco-uni-runtime==0.2.1", "pybind11>=2.12", "wheel"]
+
+[tool.uv]
+no-build-isolation-package = ["mujoco-uni-runtime"]
+```
+
+For development beside UniLab:
+
+```bash
+cd /path/to/mujoco_uni
+uv sync
+uv pip install --force-reinstall --no-deps --no-build-isolation -e .
+```
+
+UniLab imports through its compatibility/backend layer, which in turn imports:
+
+```python
+from mujoco_uni.batch_env import BatchEnvPool, SUPPORTED_FIELDS
+```
+
+## Rebuilding The Native Extension
+
+Editable installs are useful while developing MuJoCoUni in one environment.
+They generate a local extension such as:
+
+```text
+src/mujoco_uni/compiled/_batch_env.cpython-313-darwin.so
+```
+
+That artifact is tied to the active Python environment, platform, and MuJoCo
+patch version. Rebuild after switching virtual environments, Python versions, or
+MuJoCo versions:
+
+```bash
+uv pip install "mujoco==3.10.0" pybind11 wheel
+uv pip install --force-reinstall --no-deps --no-build-isolation -e .
+```
+
+After selecting a solver version, run local checks without an automatic sync if
+you want to preserve the already-built native target:
+
+```bash
+uv run --no-sync pytest -q
+```
+
+## Validation
+
+Standalone checks:
+
+```bash
+uv run ruff check .
+uv run pytest -q
+```
+
+Version-matrix checks:
+
+```bash
+uv run python tools/version_matrix.py --pytest
+```
+
+The default matrix covers:
+
+```text
+3.5.0 3.6.0 3.7.0 3.8.0 3.8.1 3.9.0 3.10.0
+```
+
+Full UniLab task validation is separate from the quick package matrix:
+
+```bash
+uv run python tools/version_matrix.py --versions 3.5.0 3.10.0 --unilab
+uv run python tools/version_matrix.py --versions 3.5.0 3.10.0 --unilab-train
+```
+
+The `--unilab-train` mode runs a short one-iteration training smoke in each
+selected MuJoCo environment.
+
+UniLab integration checks:
+
+```bash
+cd ../UniLab
+uv run pytest \
+  tests/base/test_mujoco_batch_env_randomization.py \
+  tests/base/test_mujoco_batch_env_jacobian.py \
+  tests/base/backend/test_mujoco_site_jacobian.py \
+  tests/envs/locomotion/test_go2_rough_height_scan.py \
+  tests/envs/locomotion/test_go2_footstand.py \
+  tests/envs/locomotion/test_go2_terrain_spawn.py \
+  -q
+```
+
+Training smoke:
+
+```bash
+cd ../UniLab
+uv run python scripts/train_rsl_rl.py \
+  task=go2_joystick_flat/mujoco \
+  algo.seed=1 \
+  algo.num_envs=256 \
+  algo.num_steps_per_env=24 \
+  algo.max_iterations=2 \
+  algo.save_interval=100 \
+  training.no_play=true \
+  training.logger=tensorboard \
+  training.device=cpu \
+  training.log_root=logs/mujoco_uni_smoke
+```
+
+## Thread Safety
+
+Built-in MuJoCo sensors are read from `mjData.sensordata` and are supported by
+the batch executor.
+
+Custom sensors, plugins, and global MuJoCo callbacks are thread-safety-sensitive.
+If `nthread > 1`, any global mutable callback/plugin state is the caller's
+responsibility.
+
+## Scope Boundaries
+
+MuJoCoUni stays outside these responsibilities:
+
+- MuJoCo source-code changes,
+- MuJoCo solver/contact/integrator forks,
+- distributed factorization of one MuJoCo solve across MPI ranks,
+- OpenMP inside the MuJoCoUni executor,
+- UniLab task YAMLs, rollout code, reward functions, and DrakeUni behavior.
+
+## License
+
+Apache-2.0.