mujofil 0.1.0__tar.gz

mujofil-0.1.0/.github/workflows/wheels.yml

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+name: Build & publish wheels
+
+# Builds broad-compatibility wheels (CPython 3.9–3.13, manylinux_2_28 →
+# Ubuntu 18.04+ / Debian 10+ / RHEL 8+) with cibuildwheel, plus an sdist.
+# On a tagged release (v*), publishes to PyPI via Trusted Publishing (OIDC) —
+# no API token stored in the repo.
+
+on:
+  push:
+    branches: [main]
+    tags: ["v*"]
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+  build_wheels:
+    name: Wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest]   # add macos-14 / windows-latest once Filament paths are wired
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v2.23.3
+        # All build configuration lives in [tool.cibuildwheel] in pyproject.toml.
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.11"
+      - run: pipx run build --sdist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: ./dist/*.tar.gz
+
+  publish:
+    name: Publish to PyPI
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    # Only on a version tag.
+    if: startsWith(github.ref, 'refs/tags/v')
+    environment: pypi
+    permissions:
+      id-token: write        # OIDC Trusted Publishing — no token needed
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1

mujofil-0.1.0/.gitignore

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+# Build / packaging artifacts
+/dist/
+/build/
+/_skbuild/
+/_filament/
+*.egg-info/
+wheelhouse/
+
+# Compiled / native
+*.so
+*.o
+*.a
+*.filamat
+
+# Python caches
+__pycache__/
+*.py[cod]
+.venv/
+venv/
+
+# Editor / OS
+.vscode/
+.idea/
+.DS_Store

mujofil-0.1.0/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.20)
+project(mujofil VERSION 0.1.0 LANGUAGES CXX C)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+endif()
+set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
+
+# ============================================================================
+# Filament (static libs -> baked into the module, nothing to ship separately)
+# ============================================================================
+# One-command install: if FILAMENT_DIR isn't provided, download the pinned
+# Filament release automatically so `pip install mujofil` works from source with
+# no manual setup. A prebuilt wheel never hits this path.
+set(FILAMENT_VERSION "1.56.3")
+if(NOT FILAMENT_DIR)
+    set(FILAMENT_DIR "$ENV{FILAMENT_DIR}")
+endif()
+if(NOT FILAMENT_DIR)
+    if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+        set(_fil_os "linux")
+    elseif(CMAKE_SYSTEM_NAME STREQUAL "Darwin")
+        set(_fil_os "mac")
+    elseif(WIN32)
+        set(_fil_os "windows")
+    else()
+        message(FATAL_ERROR "Unsupported platform for Filament auto-download.")
+    endif()
+    set(FILAMENT_DIR "${CMAKE_BINARY_DIR}/_filament")
+    if(NOT EXISTS "${FILAMENT_DIR}/include")
+        set(_fil_url "https://github.com/google/filament/releases/download/v${FILAMENT_VERSION}/filament-v${FILAMENT_VERSION}-${_fil_os}.tgz")
+        message(STATUS "FILAMENT_DIR not set — downloading Filament v${FILAMENT_VERSION} (${_fil_os})...")
+        file(MAKE_DIRECTORY "${FILAMENT_DIR}")
+        file(DOWNLOAD "${_fil_url}" "${CMAKE_BINARY_DIR}/filament.tgz" SHOW_PROGRESS STATUS _dl)
+        list(GET _dl 0 _dl_rc)
+        if(NOT _dl_rc EQUAL 0)
+            message(FATAL_ERROR "Failed to download Filament from ${_fil_url} (${_dl}).")
+        endif()
+        execute_process(
+            COMMAND ${CMAKE_COMMAND} -E tar xzf "${CMAKE_BINARY_DIR}/filament.tgz"
+            WORKING_DIRECTORY "${FILAMENT_DIR}")
+        # The tarball extracts into a 'filament/' subdir — flatten it.
+        if(EXISTS "${FILAMENT_DIR}/filament/include")
+            file(GLOB _fil_children "${FILAMENT_DIR}/filament/*")
+            foreach(_c ${_fil_children})
+                get_filename_component(_n "${_c}" NAME)
+                file(RENAME "${_c}" "${FILAMENT_DIR}/${_n}")
+            endforeach()
+        endif()
+    endif()
+endif()
+if(NOT EXISTS "${FILAMENT_DIR}/include")
+    message(FATAL_ERROR "FILAMENT_DIR='${FILAMENT_DIR}' has no include/ — bad Filament path.")
+endif()
+set(FILAMENT_INCLUDE_DIR "${FILAMENT_DIR}/include")
+set(FILAMENT_LIB_DIR "${FILAMENT_DIR}/lib/x86_64")
+
+set(FILAMENT_LIBS
+    filament backend bluegl bluevk filabridge filaflat utils geometry smol-v
+    ibl image camutils filameshio gltfio gltfio_core uberarchive meshoptimizer
+    ktxreader basis_transcoder dracodec png z stb uberzlib zstd)
+
+# ============================================================================
+# MuJoCo — HEADERS ONLY, and VENDORED into the repo (third_party/mujoco/include).
+# The bindings read mjModel/mjData via raw pointers and call no MuJoCo functions,
+# so we never link or ship libmujoco. Vendoring the headers (MuJoCo is Apache-2.0)
+# means the build needs NO mujoco install at all — identical across every Python
+# version and CI container. `mujoco` remains a pure RUNTIME pip dependency that
+# provides the actual library when the user runs.
+# ============================================================================
+if(NOT MUJOCO_INCLUDE_DIR)
+    set(MUJOCO_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/third_party/mujoco/include")
+endif()
+if(NOT EXISTS "${MUJOCO_INCLUDE_DIR}/mujoco/mujoco.h")
+    message(FATAL_ERROR "Vendored MuJoCo headers not found at ${MUJOCO_INCLUDE_DIR}.")
+endif()
+message(STATUS "MuJoCo headers (vendored): ${MUJOCO_INCLUDE_DIR}")
+
+# scikit-build-core sets Python_EXECUTABLE; fall back to a plain interpreter
+# lookup for standalone CMake configures.
+if(NOT Python_EXECUTABLE)
+    find_package(Python COMPONENTS Interpreter REQUIRED)
+endif()
+
+find_package(pybind11 CONFIG REQUIRED)
+find_package(Threads REQUIRED)
+
+# ============================================================================
+# Core static library (the Filament renderer)
+# ============================================================================
+add_library(vf_mujoco_core STATIC
+    src/core/renderer.cpp
+    src/core/scene_bridge.cpp
+    src/core/material_manager.cpp
+    src/core/light_manager.cpp
+    src/core/camera_controller.cpp)
+
+target_include_directories(vf_mujoco_core PUBLIC
+    ${CMAKE_SOURCE_DIR}/src ${FILAMENT_INCLUDE_DIR} ${MUJOCO_INCLUDE_DIR})
+target_link_directories(vf_mujoco_core PUBLIC ${FILAMENT_LIB_DIR})
+foreach(lib ${FILAMENT_LIBS})
+    target_link_libraries(vf_mujoco_core PUBLIC ${lib})
+endforeach()
+target_link_libraries(vf_mujoco_core PUBLIC Threads::Threads dl)
+
+# ============================================================================
+# Python module
+# ============================================================================
+pybind11_add_module(_vf_mujoco_native
+    src/bindings/bindings.cpp
+    src/bindings/renderer_bindings.cpp
+    src/bindings/scene_bindings.cpp)
+target_link_libraries(_vf_mujoco_native PRIVATE vf_mujoco_core c++ c++abi)
+target_include_directories(_vf_mujoco_native PRIVATE
+    ${CMAKE_SOURCE_DIR}/src ${FILAMENT_INCLUDE_DIR} ${MUJOCO_INCLUDE_DIR})
+
+# Look for bundled shared libs (libc++ etc., placed by auditwheel) next to the
+# module inside the installed package.
+set_target_properties(_vf_mujoco_native PROPERTIES
+    INSTALL_RPATH "$ORIGIN"
+    BUILD_WITH_INSTALL_RPATH ON)
+
+# Install the native module INTO the python package directory.
+install(TARGETS _vf_mujoco_native DESTINATION mujofil)
+
+# ============================================================================
+# Filament materials, installed as package data.
+# Prefer PREBUILT .filamat files committed under mujofil/materials/prebuilt/
+# (compiled on a host with a working matc). Filament's matc binary needs glibc
+# >= 2.29 and cannot run inside the manylinux_2_28 (glibc 2.28) CI container, so
+# we ship the precompiled packages there. If they're absent (e.g. you edited a
+# .mat), fall back to compiling with matc.
+# ============================================================================
+set(PREBUILT_MAT_DIR "${CMAKE_SOURCE_DIR}/mujofil/materials/prebuilt")
+file(GLOB PREBUILT_MATERIALS "${PREBUILT_MAT_DIR}/*.filamat")
+
+if(PREBUILT_MATERIALS)
+    message(STATUS "Using prebuilt Filament materials from ${PREBUILT_MAT_DIR}")
+    install(FILES ${PREBUILT_MATERIALS} DESTINATION mujofil/materials)
+    add_custom_target(materials ALL)
+else()
+    set(MATC "${FILAMENT_DIR}/bin/matc")
+    file(GLOB MATERIAL_SOURCES "${CMAKE_SOURCE_DIR}/mujofil/materials/*.mat")
+    foreach(mat_file ${MATERIAL_SOURCES})
+        get_filename_component(mat_name ${mat_file} NAME_WE)
+        set(mat_output "${CMAKE_BINARY_DIR}/materials/${mat_name}.filamat")
+        add_custom_command(
+            OUTPUT ${mat_output}
+            COMMAND ${CMAKE_COMMAND} -E make_directory "${CMAKE_BINARY_DIR}/materials"
+            COMMAND ${MATC} -o ${mat_output} -a vulkan -a opengl ${mat_file}
+            DEPENDS ${mat_file}
+            COMMENT "Compiling material: ${mat_name}")
+        list(APPEND COMPILED_MATERIALS ${mat_output})
+    endforeach()
+    add_custom_target(materials ALL DEPENDS ${COMPILED_MATERIALS})
+    install(FILES ${COMPILED_MATERIALS} DESTINATION mujofil/materials)
+endif()
+add_dependencies(_vf_mujoco_native materials)

mujofil-0.1.0/LICENSE

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+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
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+      Work or Derivative Works thereof in any medium, with or without
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+      meet the following conditions:
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+      (a) You must give any other recipients of the Work or
+          Derivative Works a copy of this License; and
+
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+          stating that You changed the files; and
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+          of the NOTICE file are for informational purposes only and
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+          that such additional attribution notices cannot be construed
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+      You may add Your own copyright statement to Your modifications and
+      may provide additional or different license terms and conditions
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+      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
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+      risks associated with Your exercise of permissions under this License.
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+   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
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mujofil-0.1.0/NOTICE

@@ -0,0 +1,20 @@
+MuJoFil
+Copyright 2026 Tau Intelligence
+
+This product includes software developed at Tau Intelligence.
+
+------------------------------------------------------------------------
+Third-party components
+------------------------------------------------------------------------
+
+MuJoCo (headers vendored under third_party/mujoco/include)
+  Copyright Google DeepMind
+  Licensed under the Apache License, Version 2.0.
+  https://github.com/google-deepmind/mujoco
+  Only the public C API headers are bundled; the MuJoCo library itself is a
+  runtime dependency installed via the `mujoco` PyPI package.
+
+Google Filament (statically linked into the native extension)
+  Copyright Google LLC
+  Licensed under the Apache License, Version 2.0.
+  https://github.com/google/filament

mujofil-0.1.0/PKG-INFO

@@ -0,0 +1,102 @@
+Metadata-Version: 2.2
+Name: mujofil
+Version: 0.1.0
+Summary: MuJoCo + Google Filament — high-fidelity, faster-than-OpenGL PBR rendering for MuJoCo
+Keywords: mujoco,filament,rendering,pbr,robotics,simulation
+Author: MuJoFil Contributors
+License: Apache-2.0
+Project-URL: Homepage, https://github.com/tau-intelligence/MuJoCo-Filament
+Project-URL: Source, https://github.com/tau-intelligence/MuJoCo-Filament
+Project-URL: Issues, https://github.com/tau-intelligence/MuJoCo-Filament/issues
+Requires-Python: >=3.10
+Requires-Dist: mujoco>=3.0
+Requires-Dist: numpy>=1.24
+Provides-Extra: gym
+Requires-Dist: gymnasium>=0.29; extra == "gym"
+Provides-Extra: examples
+Requires-Dist: imageio; extra == "examples"
+Requires-Dist: pillow; extra == "examples"
+Description-Content-Type: text/markdown
+
+# MuJoFil — MuJoCo + Google Filament
+
+High-fidelity, **physically-based** rendering for [MuJoCo](https://mujoco.org),
+powered by [Google Filament](https://google.github.io/filament/) instead of the
+legacy fixed-function OpenGL path — sharper materials, real image-based lighting,
+and faster frames on modern GPUs.
+
+```bash
+pip install mujofil
+```
+
+That's it. The Filament engine is **statically compiled into the wheel** and the
+material packages ship inside it, so there's no separate SDK, no compiler, and no
+`PYTHONPATH` setup. MuJoCo itself comes from its own pip wheel (a dependency).
+
+> ## ⚠️ One thing pip can't install for you: a **Vulkan GPU driver**
+> MuJoFil renders on the GPU via Vulkan (with an OpenGL fallback). That driver is
+> part of your operating system and **cannot** be bundled in a wheel. MuJoFil
+> detects this for you — if it's missing you'll see a clear message on first
+> `import mujofil`, and `mujofil-doctor` prints exactly what to install:
+>
+> | OS | Install command |
+> |----|-----------------|
+> | Ubuntu/Debian | `sudo apt install libvulkan1 mesa-vulkan-drivers vulkan-tools` |
+> | Fedora | `sudo dnf install vulkan-loader mesa-vulkan-drivers vulkan-tools` |
+> | Arch | `sudo pacman -S vulkan-icd-loader vulkan-tools <gpu-vulkan-driver>` |
+> | macOS | LunarG Vulkan SDK (MoltenVK): https://vulkan.lunarg.com/sdk/home#mac |
+> | Windows | Latest GPU driver, or LunarG SDK: https://vulkan.lunarg.com |
+>
+> NVIDIA GPUs also need the proprietary driver. Headless/no-GPU machines can use
+> the software rasterizer (`mesa-vulkan-drivers`, "lavapipe"). After installing,
+> run **`mujofil-doctor`** to confirm.
+
+## Verify your setup
+
+```bash
+mujofil-doctor      # prints a GPU/Vulkan diagnostic; exit 0 = ready to render
+```
+
+## Quick start
+
+```python
+import mujoco
+from mujofil import VFRenderer, RenderConfig
+
+model = mujoco.MjModel.from_xml_path("scene.xml")
+data = mujoco.MjData(model)
+
+r = VFRenderer(model, RenderConfig(width=1920, height=1080))
+mujoco.mj_step(model, data)
+rgb = r.render(data)        # (H, W, 3) uint8
+```
+
+## What ships in the wheel
+
+* `mujofil/_vf_mujoco_native.*.so` — the Filament renderer (Filament linked
+  statically; only `libc++`/`libunwind` bundled alongside via `auditwheel`).
+* `mujofil/materials/*.filamat` — precompiled Filament material packages.
+* Pure-Python API (`VFRenderer`, `RenderConfig`, `VFRenderWrapper`).
+
+MuJoCo is **not** bundled — the bindings read `mjModel`/`mjData` through pointers
+and call no MuJoCo functions, so the `mujoco` pip package satisfies it at runtime.
+
+## Requirements
+
+* A GPU with a working **Vulkan** (preferred) or OpenGL driver — same as any
+  realtime renderer. For headless CI, a software Vulkan (e.g. lavapipe) works.
+* Linux x86-64 (manylinux wheels). macOS / Windows wheels are produced by the
+  same `cibuildwheel` config.
+
+## Building from source
+
+```bash
+export FILAMENT_DIR=/path/to/filament      # a Filament release
+pip install .                              # scikit-build-core + CMake
+```
+
+Multi-platform release wheels are built in CI with `cibuildwheel`.
+
+## License
+
+Apache 2.0 License

mujofil-0.1.0/README.md

@@ -0,0 +1,82 @@
+# MuJoFil — MuJoCo + Google Filament
+
+High-fidelity, **physically-based** rendering for [MuJoCo](https://mujoco.org),
+powered by [Google Filament](https://google.github.io/filament/) instead of the
+legacy fixed-function OpenGL path — sharper materials, real image-based lighting,
+and faster frames on modern GPUs.
+
+```bash
+pip install mujofil
+```
+
+That's it. The Filament engine is **statically compiled into the wheel** and the
+material packages ship inside it, so there's no separate SDK, no compiler, and no
+`PYTHONPATH` setup. MuJoCo itself comes from its own pip wheel (a dependency).
+
+> ## ⚠️ One thing pip can't install for you: a **Vulkan GPU driver**
+> MuJoFil renders on the GPU via Vulkan (with an OpenGL fallback). That driver is
+> part of your operating system and **cannot** be bundled in a wheel. MuJoFil
+> detects this for you — if it's missing you'll see a clear message on first
+> `import mujofil`, and `mujofil-doctor` prints exactly what to install:
+>
+> | OS | Install command |
+> |----|-----------------|
+> | Ubuntu/Debian | `sudo apt install libvulkan1 mesa-vulkan-drivers vulkan-tools` |
+> | Fedora | `sudo dnf install vulkan-loader mesa-vulkan-drivers vulkan-tools` |
+> | Arch | `sudo pacman -S vulkan-icd-loader vulkan-tools <gpu-vulkan-driver>` |
+> | macOS | LunarG Vulkan SDK (MoltenVK): https://vulkan.lunarg.com/sdk/home#mac |
+> | Windows | Latest GPU driver, or LunarG SDK: https://vulkan.lunarg.com |
+>
+> NVIDIA GPUs also need the proprietary driver. Headless/no-GPU machines can use
+> the software rasterizer (`mesa-vulkan-drivers`, "lavapipe"). After installing,
+> run **`mujofil-doctor`** to confirm.
+
+## Verify your setup
+
+```bash
+mujofil-doctor      # prints a GPU/Vulkan diagnostic; exit 0 = ready to render
+```
+
+## Quick start
+
+```python
+import mujoco
+from mujofil import VFRenderer, RenderConfig
+
+model = mujoco.MjModel.from_xml_path("scene.xml")
+data = mujoco.MjData(model)
+
+r = VFRenderer(model, RenderConfig(width=1920, height=1080))
+mujoco.mj_step(model, data)
+rgb = r.render(data)        # (H, W, 3) uint8
+```
+
+## What ships in the wheel
+
+* `mujofil/_vf_mujoco_native.*.so` — the Filament renderer (Filament linked
+  statically; only `libc++`/`libunwind` bundled alongside via `auditwheel`).
+* `mujofil/materials/*.filamat` — precompiled Filament material packages.
+* Pure-Python API (`VFRenderer`, `RenderConfig`, `VFRenderWrapper`).
+
+MuJoCo is **not** bundled — the bindings read `mjModel`/`mjData` through pointers
+and call no MuJoCo functions, so the `mujoco` pip package satisfies it at runtime.
+
+## Requirements
+
+* A GPU with a working **Vulkan** (preferred) or OpenGL driver — same as any
+  realtime renderer. For headless CI, a software Vulkan (e.g. lavapipe) works.
+* Linux x86-64 (manylinux wheels). macOS / Windows wheels are produced by the
+  same `cibuildwheel` config.
+
+## Building from source
+
+```bash
+export FILAMENT_DIR=/path/to/filament      # a Filament release
+pip install .                              # scikit-build-core + CMake
+```
+
+Multi-platform release wheels are built in CI with `cibuildwheel`.
+
+## License
+
+Apache 2.0 License