mujoco-warp 0.0.1__tar.gz

mujoco_warp-0.0.1/AUTHORS

@@ -0,0 +1,10 @@
+# This is the list of significant contributors to mjWarp.
+#
+# This does not necessarily list everyone who has contributed code,
+# especially since many employees of one corporation may be contributing.
+# To see the full list of contributors, see the revision history in
+# source control.
+
+Google LLC
+NVIDIA Corporation
+

mujoco_warp-0.0.1/LICENSE

@@ -0,0 +1,202 @@
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mujoco_warp-0.0.1/PKG-INFO

@@ -0,0 +1,184 @@
+Metadata-Version: 2.4
+Name: mujoco-warp
+Version: 0.0.1
+Summary: MuJoCo Warp (MJWarp)
+Author-email: Newton Developers <mujoco@deepmind.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/google-deepmind/mujoco_warp
+Project-URL: Documentation, https://mujoco.readthedocs.io
+Project-URL: Repository, https://github.com/google-deepmind/mujoco_warp
+Project-URL: Changelog, https://mujoco.readthedocs.io/en/stable/changelog.html
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Natural Language :: English
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: AUTHORS
+Requires-Dist: absl-py
+Requires-Dist: etils[epath]
+Requires-Dist: mujoco>=3.3.7
+Requires-Dist: numpy
+Requires-Dist: warp-lang>=1.9.1
+Provides-Extra: dev
+Requires-Dist: asv; extra == "dev"
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-xdist; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: pygls<2.0.0,>=1.0.0; extra == "dev"
+Requires-Dist: lsprotocol<2024.0.0,>=2023.0.1; extra == "dev"
+Requires-Dist: mujoco>=3.3.7.dev0; extra == "dev"
+Requires-Dist: warp-lang>=1.9.1.dev0; extra == "dev"
+Provides-Extra: cpu
+Requires-Dist: jax; extra == "cpu"
+Provides-Extra: cuda
+Requires-Dist: jax[cuda12]; extra == "cuda"
+Dynamic: license-file
+
+<p>
+  <a href="https://github.com/google-deepmind/mujoco_warp/actions/workflows/ci.yml?query=branch%3Amain" alt="GitHub Actions">
+    <img src="https://img.shields.io/github/actions/workflow/status/google-deepmind/mujoco_warp/ci.yml?branch=main">
+  </a>
+  <a href="https://mujoco.readthedocs.io/en/latest/mjwarp/index.html" alt="Documentation">
+    <img src="https://readthedocs.org/projects/mujoco/badge/?version=latest">
+  </a>
+  <a href="https://github.com/google-deepmind/mujoco_warp/blob/main/LICENSE" alt="License">
+    <img src="https://img.shields.io/github/license/google-deepmind/mujoco_warp">
+  </a>
+</p>
+
+# MuJoCo Warp (MJWarp)
+
+MJWarp is a GPU-optimized version of the [MuJoCo](https://github.com/google-deepmind/mujoco) physics simulator, designed for NVIDIA hardware.
+
+> [!NOTE]
+> MJWarp is in Beta and under active development:
+> * MJWarp developers will triage and respond to [bug report and feature requests](https://github.com/google-deepmind/mujoco_warp/issues).
+> * MJWarp is mostly feature complete but requires performance optimization, documentation, and testing.
+> * The intended audience during Beta are physics engine enthusiasts and learning framework integrators.
+
+MJWarp uses [NVIDIA Warp](https://github.com/NVIDIA/warp) to circumvent many of the [sharp bits](https://mujoco.readthedocs.io/en/stable/mjx.html#mjx-the-sharp-bits) in [MuJoCo MJX](https://mujoco.readthedocs.io/en/stable/mjx.html#). MJWarp is integrated into both [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) and [Newton](https://github.com/newton-physics/newton).
+
+MJWarp is maintained by [Google DeepMind](https://deepmind.google/) and [NVIDIA](https://www.nvidia.com/).
+
+# Getting started
+
+There are a few ways to jump into using MuJoCo Warp:
+
+* For a quick overview of MJWarp's API and design, please see [our colab that introduces the basics](https://colab.research.google.com/github/google-deepmind/mujoco_warp/blob/main/notebooks/tutorial.ipynb).
+* For more details and advanced topics on using MJWarp, see the [MuJoCo Warp documentation](https://mujoco.readthedocs.io/en/latest/mjwarp/index.html).
+
+If you would like to train robot policies using MJWarp, consider using a robotics research toolkit that integrates it:
+
+* [MuJoCo Playground](https://github.com/google-deepmind/mujoco_playground) integrates MJWarp via [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html)
+* [Isaac Lab](https://github.com/isaac-sim/IsaacLab/tree/feature/newton) integrates MJWarp via [Newton](https://github.com/newton-physics/newton)
+* [mjlab](https://github.com/mujocolab/mjlab) integrates MJWarp directly
+
+# Installing for development
+
+MuJoCo Warp is currently supported on Windows or Linux on x86-64 architecture (to be expanded to more platforms and architectures soon).
+
+**CUDA**
+
+The minimum supported CUDA version is `12.4`.
+
+**Linux**
+```bash
+git clone https://github.com/google-deepmind/mujoco_warp.git
+cd mujoco_warp
+python3 -m venv env
+source env/bin/activate
+pip install --upgrade pip
+pip install uv
+```
+**Windows**
+(native Python only, not MSYS2 or WSL)
+
+```powershell
+git clone https://github.com/google-deepmind/mujoco_warp.git
+cd mujoco_warp
+python -m venv env
+.\env\Scripts\Activate.ps1  # For MSYS2 Python: env\bin\activate
+pip install --upgrade pip
+pip install uv
+```
+
+
+Then install MJWarp in editable mode for local development:
+
+```
+uv pip install -e .[dev,cuda]
+```
+
+Now make sure everything is working:
+
+```bash
+pytest
+```
+
+Should print out something like `XX passed in XX.XXs` at the end!
+
+If you plan to write Warp kernels for MJWarp, please use the `kernel_analyzer` vscode plugin located in `contrib/kernel_analyzer`.
+Please see the `README.md` there for details on how to install it and use it.  The same kernel analyzer will be run on any PR
+you open, so it's important to fix any issues it reports.
+
+# Compatibility
+
+The following features are implemented:
+
+| Category           | Feature                                                                                                 |
+| ------------------ | --------------------------------------------------------------------------------------------------------|
+| Dynamics           | Forward, Inverse                                                                                        |
+| Transmission       | All                                                                                                     |
+| Actuator Dynamics  | All except `USER`                                                                                       |
+| Actuator Gain      | All except `USER`                                                                                       |
+| Actuator Bias      | All except `USER`                                                                                       |
+| Geom               | All                                                                                                     |
+| Constraint         | All                                                                                                     |
+| Equality           | All                                                                                                     |
+| Integrator         | All except `IMPLICIT`                                                                                   |
+| Cone               | All                                                                                                     |
+| Condim             | All                                                                                                     |
+| Solver             | All except `PGS`, `noslip`                                                                              |
+| Fluid Model        | All                                                                                                     |
+| Tendon Wrap        | All                                                                                                     |
+| Sensors            | All except `GEOMDIST`, `GEOMNORMAL`, and `GEOMFROMTO` with `BOX`-`BOX`; `PLUGIN`, `USER`                |
+| Flex               | `VERTCOLLIDE`, `ELASTICITY`                                                                             |
+| Mass matrix format | Sparse and Dense                                                                                        |
+| Jacobian format    | `DENSE` only (row-sparse, no islanding yet)                                                             |
+
+[Differentiability via Warp](https://nvidia.github.io/warp/modules/differentiability.html#differentiability) is not currently
+available.
+
+# Viewing simulations
+
+Explore MuJoCo Warp simulations using an interactive viewer:
+
+```bash
+mjwarp-viewer benchmark/humanoid/humanoid.xml
+```
+
+This will open a window on your local machine that uses the [MuJoCo native visualizer](https://mujoco.readthedocs.io/en/stable/programming/visualization.html).
+
+# Benchmarking
+
+Benchmark as follows:
+
+```bash
+mjwarp-testspeed benchmark/humanoid/humanoid.xml
+```
+
+To get a full trace of the physics steps (e.g. timings of the subcomponents) run the following:
+
+```bash
+mjwarp-testspeed benchmark/humanoid/humanoid.xml --event_trace=True
+```
+
+`mjwarp-testspeed` has many configuration options, see ```mjwarp-testspeed --help``` for details.

mujoco_warp-0.0.1/README.md

@@ -0,0 +1,140 @@
+<p>
+  <a href="https://github.com/google-deepmind/mujoco_warp/actions/workflows/ci.yml?query=branch%3Amain" alt="GitHub Actions">
+    <img src="https://img.shields.io/github/actions/workflow/status/google-deepmind/mujoco_warp/ci.yml?branch=main">
+  </a>
+  <a href="https://mujoco.readthedocs.io/en/latest/mjwarp/index.html" alt="Documentation">
+    <img src="https://readthedocs.org/projects/mujoco/badge/?version=latest">
+  </a>
+  <a href="https://github.com/google-deepmind/mujoco_warp/blob/main/LICENSE" alt="License">
+    <img src="https://img.shields.io/github/license/google-deepmind/mujoco_warp">
+  </a>
+</p>
+
+# MuJoCo Warp (MJWarp)
+
+MJWarp is a GPU-optimized version of the [MuJoCo](https://github.com/google-deepmind/mujoco) physics simulator, designed for NVIDIA hardware.
+
+> [!NOTE]
+> MJWarp is in Beta and under active development:
+> * MJWarp developers will triage and respond to [bug report and feature requests](https://github.com/google-deepmind/mujoco_warp/issues).
+> * MJWarp is mostly feature complete but requires performance optimization, documentation, and testing.
+> * The intended audience during Beta are physics engine enthusiasts and learning framework integrators.
+
+MJWarp uses [NVIDIA Warp](https://github.com/NVIDIA/warp) to circumvent many of the [sharp bits](https://mujoco.readthedocs.io/en/stable/mjx.html#mjx-the-sharp-bits) in [MuJoCo MJX](https://mujoco.readthedocs.io/en/stable/mjx.html#). MJWarp is integrated into both [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html) and [Newton](https://github.com/newton-physics/newton).
+
+MJWarp is maintained by [Google DeepMind](https://deepmind.google/) and [NVIDIA](https://www.nvidia.com/).
+
+# Getting started
+
+There are a few ways to jump into using MuJoCo Warp:
+
+* For a quick overview of MJWarp's API and design, please see [our colab that introduces the basics](https://colab.research.google.com/github/google-deepmind/mujoco_warp/blob/main/notebooks/tutorial.ipynb).
+* For more details and advanced topics on using MJWarp, see the [MuJoCo Warp documentation](https://mujoco.readthedocs.io/en/latest/mjwarp/index.html).
+
+If you would like to train robot policies using MJWarp, consider using a robotics research toolkit that integrates it:
+
+* [MuJoCo Playground](https://github.com/google-deepmind/mujoco_playground) integrates MJWarp via [MJX](https://mujoco.readthedocs.io/en/stable/mjx.html)
+* [Isaac Lab](https://github.com/isaac-sim/IsaacLab/tree/feature/newton) integrates MJWarp via [Newton](https://github.com/newton-physics/newton)
+* [mjlab](https://github.com/mujocolab/mjlab) integrates MJWarp directly
+
+# Installing for development
+
+MuJoCo Warp is currently supported on Windows or Linux on x86-64 architecture (to be expanded to more platforms and architectures soon).
+
+**CUDA**
+
+The minimum supported CUDA version is `12.4`.
+
+**Linux**
+```bash
+git clone https://github.com/google-deepmind/mujoco_warp.git
+cd mujoco_warp
+python3 -m venv env
+source env/bin/activate
+pip install --upgrade pip
+pip install uv
+```
+**Windows**
+(native Python only, not MSYS2 or WSL)
+
+```powershell
+git clone https://github.com/google-deepmind/mujoco_warp.git
+cd mujoco_warp
+python -m venv env
+.\env\Scripts\Activate.ps1  # For MSYS2 Python: env\bin\activate
+pip install --upgrade pip
+pip install uv
+```
+
+
+Then install MJWarp in editable mode for local development:
+
+```
+uv pip install -e .[dev,cuda]
+```
+
+Now make sure everything is working:
+
+```bash
+pytest
+```
+
+Should print out something like `XX passed in XX.XXs` at the end!
+
+If you plan to write Warp kernels for MJWarp, please use the `kernel_analyzer` vscode plugin located in `contrib/kernel_analyzer`.
+Please see the `README.md` there for details on how to install it and use it.  The same kernel analyzer will be run on any PR
+you open, so it's important to fix any issues it reports.
+
+# Compatibility
+
+The following features are implemented:
+
+| Category           | Feature                                                                                                 |
+| ------------------ | --------------------------------------------------------------------------------------------------------|
+| Dynamics           | Forward, Inverse                                                                                        |
+| Transmission       | All                                                                                                     |
+| Actuator Dynamics  | All except `USER`                                                                                       |
+| Actuator Gain      | All except `USER`                                                                                       |
+| Actuator Bias      | All except `USER`                                                                                       |
+| Geom               | All                                                                                                     |
+| Constraint         | All                                                                                                     |
+| Equality           | All                                                                                                     |
+| Integrator         | All except `IMPLICIT`                                                                                   |
+| Cone               | All                                                                                                     |
+| Condim             | All                                                                                                     |
+| Solver             | All except `PGS`, `noslip`                                                                              |
+| Fluid Model        | All                                                                                                     |
+| Tendon Wrap        | All                                                                                                     |
+| Sensors            | All except `GEOMDIST`, `GEOMNORMAL`, and `GEOMFROMTO` with `BOX`-`BOX`; `PLUGIN`, `USER`                |
+| Flex               | `VERTCOLLIDE`, `ELASTICITY`                                                                             |
+| Mass matrix format | Sparse and Dense                                                                                        |
+| Jacobian format    | `DENSE` only (row-sparse, no islanding yet)                                                             |
+
+[Differentiability via Warp](https://nvidia.github.io/warp/modules/differentiability.html#differentiability) is not currently
+available.
+
+# Viewing simulations
+
+Explore MuJoCo Warp simulations using an interactive viewer:
+
+```bash
+mjwarp-viewer benchmark/humanoid/humanoid.xml
+```
+
+This will open a window on your local machine that uses the [MuJoCo native visualizer](https://mujoco.readthedocs.io/en/stable/programming/visualization.html).
+
+# Benchmarking
+
+Benchmark as follows:
+
+```bash
+mjwarp-testspeed benchmark/humanoid/humanoid.xml
+```
+
+To get a full trace of the physics steps (e.g. timings of the subcomponents) run the following:
+
+```bash
+mjwarp-testspeed benchmark/humanoid/humanoid.xml --event_trace=True
+```
+
+`mjwarp-testspeed` has many configuration options, see ```mjwarp-testspeed --help``` for details.

mujoco_warp-0.0.1/mujoco_warp/__init__.py

@@ -0,0 +1,91 @@
+# Copyright 2025 The Newton Developers
+#
+# 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.
+# ==============================================================================
+
+"""Public API for MJWarp."""
+
+# isort: off
+from ._src.forward import step as step
+from ._src.types import Model as Model
+from ._src.types import Data as Data
+# isort: on
+
+from ._src.collision_driver import collision as collision
+from ._src.collision_driver import nxn_broadphase as nxn_broadphase
+from ._src.collision_driver import sap_broadphase as sap_broadphase
+from ._src.collision_primitive import primitive_narrowphase as primitive_narrowphase
+from ._src.collision_sdf import sdf_narrowphase as sdf_narrowphase
+from ._src.constraint import make_constraint as make_constraint
+from ._src.derivative import deriv_smooth_vel as deriv_smooth_vel
+from ._src.forward import euler as euler
+from ._src.forward import forward as forward
+from ._src.forward import fwd_acceleration as fwd_acceleration
+from ._src.forward import fwd_actuation as fwd_actuation
+from ._src.forward import fwd_position as fwd_position
+from ._src.forward import fwd_velocity as fwd_velocity
+from ._src.forward import implicit as implicit
+from ._src.forward import rungekutta4 as rungekutta4
+from ._src.forward import step1 as step1
+from ._src.forward import step2 as step2
+from ._src.inverse import inverse as inverse
+from ._src.io import get_data_into as get_data_into
+from ._src.io import make_data as make_data
+from ._src.io import put_data as put_data
+from ._src.io import put_model as put_model
+from ._src.io import reset_data as reset_data
+from ._src.passive import passive as passive
+from ._src.ray import ray as ray
+from ._src.ray import rays as rays
+from ._src.sensor import energy_pos as energy_pos
+from ._src.sensor import energy_vel as energy_vel
+from ._src.sensor import sensor_acc as sensor_acc
+from ._src.sensor import sensor_pos as sensor_pos
+from ._src.sensor import sensor_vel as sensor_vel
+from ._src.smooth import camlight as camlight
+from ._src.smooth import com_pos as com_pos
+from ._src.smooth import com_vel as com_vel
+from ._src.smooth import crb as crb
+from ._src.smooth import factor_m as factor_m
+from ._src.smooth import flex as flex
+from ._src.smooth import kinematics as kinematics
+from ._src.smooth import rne as rne
+from ._src.smooth import rne_postconstraint as rne_postconstraint
+from ._src.smooth import solve_m as solve_m
+from ._src.smooth import subtree_vel as subtree_vel
+from ._src.smooth import tendon as tendon
+from ._src.smooth import transmission as transmission
+from ._src.solver import solve as solve
+from ._src.support import contact_force as contact_force
+from ._src.support import get_state as get_state
+from ._src.support import mul_m as mul_m
+from ._src.support import set_state as set_state
+from ._src.support import xfrc_accumulate as xfrc_accumulate
+from ._src.types import BiasType as BiasType
+from ._src.types import BroadphaseFilter as BroadphaseFilter
+from ._src.types import BroadphaseType as BroadphaseType
+from ._src.types import ConeType as ConeType
+from ._src.types import Constraint as Constraint
+from ._src.types import Contact as Contact
+from ._src.types import DisableBit as DisableBit
+from ._src.types import DynType as DynType
+from ._src.types import EnableBit as EnableBit
+from ._src.types import GainType as GainType
+from ._src.types import GeomType as GeomType
+from ._src.types import IntegratorType as IntegratorType
+from ._src.types import JointType as JointType
+from ._src.types import Option as Option
+from ._src.types import SolverType as SolverType
+from ._src.types import State as State
+from ._src.types import Statistic as Statistic
+from ._src.types import TrnType as TrnType

mujoco_warp-0.0.1/mujoco_warp/_src/__init__.py

@@ -0,0 +1,14 @@
+# Copyright 2025 The Newton Developers
+#
+# 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.
+# ==============================================================================