physicalai-mujoco-so101-plugin 0.1.0__tar.gz

physicalai_mujoco_so101_plugin-0.1.0/.gitignore

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physicalai_mujoco_so101_plugin-0.1.0/PKG-INFO

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+Metadata-Version: 2.5
+Name: physicalai-mujoco-so101-plugin
+Version: 0.1.0
+Summary: MuJoCo SO-101 simulation plugin for PhysicalAI Studio
+Project-URL: Homepage, https://github.com/MarkRedeman/physicalai-plugins
+Project-URL: Repository, https://github.com/MarkRedeman/physicalai-plugins
+Project-URL: Issues, https://github.com/MarkRedeman/physicalai-plugins/issues
+License-Expression: Apache-2.0
+Requires-Python: >=3.12
+Requires-Dist: defusedxml>=0.7.1
+Requires-Dist: fastapi>=0.115
+Requires-Dist: loguru>=0.7
+Requires-Dist: mujoco>=3.1.0
+Requires-Dist: numpy>=1.24
+Requires-Dist: opencv-python-headless>=4.10
+Requires-Dist: physicalai-studio-plugin
+Requires-Dist: physicalai[transport]>=0.1.1
+Requires-Dist: pydantic>=2.0
+Requires-Dist: pyfakewebcam>=0.1.0
+Requires-Dist: uvicorn>=0.30
+Provides-Extra: tests
+Requires-Dist: httpx>=0.27; extra == 'tests'
+Requires-Dist: pytest; extra == 'tests'
+Requires-Dist: pytest-asyncio; extra == 'tests'
+Description-Content-Type: text/markdown
+
+# PhysicalAI MuJoCo SO-101 Plugin
+
+MuJoCo SO-101 simulation plugin for PhysicalAI Studio. Part of the [physicalai-plugins](https://github.com/MarkRedeman/physicalai-plugins) monorepo.
+
+This plugin lets you run a virtual SO-101 robot as a PhysicalAI transport owner, then connect to it from Studio exactly like real hardware.
+
+## Features
+
+- Run a virtual SO-101 as a PhysicalAI transport owner
+- MuJoCo interactive viewer
+- Camera streams over HTTP (MJPEG) and optional v4l2loopback
+- REST control server (scenes, reset, shutdown)
+- Built-in task scenes
+
+## Screenshots
+
+_Placeholder images — replace them with real screenshots._
+
+![MuJoCo SO-101 in the PhysicalAI Studio robot catalog](https://raw.githubusercontent.com/MarkRedeman/physicalai-plugins/main/screenshots/studio-catalog.png)
+
+![Connecting to the MuJoCo SO-101 in PhysicalAI Studio](https://raw.githubusercontent.com/MarkRedeman/physicalai-plugins/main/packages/physicalai-mujoco-so101-plugin/screenshots/studio.png)
+
+![MuJoCo viewer with a pick-and-place scene](https://raw.githubusercontent.com/MarkRedeman/physicalai-plugins/main/packages/physicalai-mujoco-so101-plugin/screenshots/viewer.png)
+
+![MJPEG camera stream in a browser](https://raw.githubusercontent.com/MarkRedeman/physicalai-plugins/main/packages/physicalai-mujoco-so101-plugin/screenshots/mjpeg.png)
+
+## What this is for
+
+- Teleoperating a virtual SO-101 from PhysicalAI Studio.
+- Testing robot setup, task logic, and control flows without physical hardware.
+- Playing back policy/inference outputs in a simulated scene while monitoring robot + camera streams.
+- Developing workflows where Studio, transport, and robot APIs stay identical between sim and real deployments.
+
+## Quick start
+
+From the repo root:
+
+```bash
+uv run --no-sync physicalai-mujoco-so101 start
+```
+
+By default this starts:
+
+- A MuJoCo SO-101 owner named `mujoco-so101`
+- Viewer window enabled
+- Camera streams served over HTTP (MJPEG + REST control server on port `8080`)
+- Control rate `50 Hz`
+- Substeps `10`
+
+Then open PhysicalAI Studio and connect to the robot type `MuJoCo SO-101 Follower` with name `mujoco-so101`.
+
+### CLI teleoperation (self-relay)
+
+With the owner running, you can also relay the simulation back to itself using
+the [PhysicalAI CLI](https://github.com/openvinotoolkit/physicalai):
+
+```bash
+uv run physicalai run --config packages/physicalai-mujoco-so101-plugin/examples/runtime/teleop.yaml
+```
+
+Press `Ctrl+C` to stop.
+
+View the camera streams in a browser or with `curl`:
+
+```bash
+curl http://127.0.0.1:8080/health
+```
+
+MJPEG stream URLs are `http://127.0.0.1:8080/cameras/<name>/mjpeg` (e.g. open
+`http://127.0.0.1:8080/cameras/overview/mjpeg` in a browser, or play it in VLC).
+
+## CLI options
+
+```bash
+uv run --no-sync physicalai-mujoco-so101 start --help
+```
+
+Common options:
+
+- `--name <robot-name>`: transport name (must match Studio payload)
+- `--model <path>`: custom XML/URDF path (bypasses scene resolution)
+- `--scene <name>`: scene name (`single_pick_place`, `pick_lift`, `pick_place`, or `yahtzee`, default `single_pick_place`)
+- `--no-gui`: disable MuJoCo interactive viewer
+- `--no-cameras`: disable camera rendering entirely (HTTP streams and v4l2loopback)
+- `--http-host <host>`: host for the camera/control HTTP server (default `127.0.0.1`)
+- `--http-port <port>`: port for the camera/control HTTP server (default `8080`)
+- `--no-http`: disable the camera/control HTTP server
+- `--v4l2`: also publish cameras to v4l2loopback devices (requires `modprobe v4l2loopback`)
+- `--rate-hz <float>`: owner loop frequency
+- `--substeps <int>`: MuJoCo steps per control cycle
+- `--idle-timeout <seconds>`: seconds with zero subscribers before self-exit
+  (default `10` without HTTP, disabled when HTTP is enabled so stream viewers keep the sim alive)
+- `--allow-remote`: allow non-loopback zenoh connections
+
+## Cameras over HTTP (default)
+
+The plugin renders two camera feeds and serves them over HTTP:
+
+- `wrist` -> `http://127.0.0.1:8080/cameras/wrist/mjpeg`
+- `overview` -> `http://127.0.0.1:8080/cameras/overview/mjpeg`
+
+Each camera is also available as a single JPEG snapshot at
+`http://127.0.0.1:8080/cameras/<name>/frame.jpg`.
+
+### REST control API
+
+The HTTP server exposes control endpoints for resetting and switching scenes:
+
+```bash
+# List available scenes and the current one
+curl http://127.0.0.1:8080/scenes
+
+# Switch to another scene
+curl -X POST http://127.0.0.1:8080/scenes/pick_place
+
+# Reset/randomize the current scene
+curl -X POST http://127.0.0.1:8080/reset
+
+# Stop the simulation owner
+curl -X POST http://127.0.0.1:8080/shutdown
+```
+
+| Endpoint                    | Method | Description                                   |
+| --------------------------- | ------ | --------------------------------------------- |
+| `/`                         | GET    | Service info, endpoint index                  |
+| `/health`                   | GET    | Sim status: connected, current scene, cameras |
+| `/cameras`                  | GET    | Camera list with stream/snapshot URLs         |
+| `/cameras/{name}/mjpeg`     | GET    | MJPEG stream (`multipart/x-mixed-replace`)    |
+| `/cameras/{name}/frame.jpg` | GET    | Latest frame as a JPEG snapshot               |
+| `/scenes`                   | GET    | Current scene and available scene IDs         |
+| `/scenes/{scene_id}`        | POST   | Switch to another registered scene            |
+| `/reset`                    | POST   | Reset/randomize the current scene             |
+| `/shutdown`                 | POST   | Gracefully stop the simulation owner          |
+
+Because the owner process is detached, stopping the CLI with `Ctrl+C` does not
+stop the simulation. Use `POST /shutdown`, `--idle-timeout`, or kill the owner
+process directly.
+
+## Cameras and v4l2loopback (opt-in)
+
+For workflows that need a webcam-visible device, pass `--v4l2` to publish the
+same camera feeds to v4l2loopback devices:
+
+- `wrist` -> `/dev/video<wrist-video-id>` (default `/dev/video60`)
+- `overview` -> `/dev/video<overview-video-id>` (default `/dev/video62`)
+
+Example with custom IDs:
+
+```bash
+uv run --no-sync physicalai-mujoco-so101 start --v4l2 --wrist-video-id 70 --overview-video-id 71
+```
+
+### One-time setup (Linux)
+
+Install and load v4l2loopback:
+
+```bash
+sudo modprobe v4l2loopback exclusive_caps=1 video_nr=60,61
+```
+
+If you use custom camera IDs, use matching `video_nr` values. Example:
+
+```bash
+sudo modprobe v4l2loopback exclusive_caps=1 video_nr=70,71
+```
+
+If the module is already loaded with different params, unload and reload:
+
+```bash
+sudo rmmod v4l2loopback
+sudo modprobe v4l2loopback exclusive_caps=1 video_nr=60,61
+```
+
+### Verify devices
+
+```bash
+ls /dev/video60 /dev/video61
+```
+
+For custom IDs, verify those device nodes instead.
+
+Optional sanity checks:
+
+```bash
+v4l2-ctl --all -d /dev/video60
+v4l2-ctl --all -d /dev/video61
+```
+
+## Troubleshooting
+
+### HTTP server unavailable or port already in use
+
+- The camera/control server binds to `--http-host`/`--http-port` (default `127.0.0.1:8080`).
+- If the port is taken the simulation continues without HTTP and logs a warning — pass a different `--http-port`.
+- When running multiple simulations, give each a distinct `--http-port`.
+
+### `Camera '<name>' unavailable` or invalid argument on `/dev/video*` (with `--v4l2`)
+
+- Ensure v4l2loopback is loaded with `exclusive_caps=1`
+- Ensure the configured video devices exist (default `/dev/video60`, `/dev/video62`)
+- Check permissions on device nodes
+
+### Viewer opens but has Wayland warnings (`libdecor`, window position)
+
+These warnings are typically non-fatal on Wayland and can be ignored if simulation continues.
+
+### Camera/control server is not started
+
+- Confirm the sim is running and the port is free: `curl http://127.0.0.1:8080/health`
+- `--no-http` or `--http-port 0` disables the server; `--no-cameras` disables all camera rendering
+
+## Using with Studio teleop and inference playback
+
+Typical workflow:
+
+1. Start simulation owner: `physicalai-mujoco-so101 start`
+2. Connect from PhysicalAI Studio (`MuJoCo SO-101 Follower`)
+3. Teleoperate in Studio and observe state/cameras
+4. Run policy inference and play action outputs into the same simulated robot
+
+Because this uses PhysicalAI transport + Studio catalog integration, you can iterate on control and inference loops in simulation before moving to hardware.
+
+## Scenes
+
+The plugin ships with built-in scenes that provide different environments for the robot:
+
+| Scene ID                      | Description                           | Free objects    | Target      |
+| ----------------------------- | ------------------------------------- | --------------- | ----------- |
+| `single_pick_place` (default) | One block and a target disc           | 1 cube          | target disc |
+| `pick_lift`                   | Three colored cubes and a target disc | 3 cubes         | target disc |
+| `pick_place`                  | A cube, a cylinder, and a target zone | cube + cylinder | target zone |
+| `yahtzee`                     | Six dice and a cup                    | 6 dice          | cup         |
+
+Start with a specific scene:
+
+```bash
+uv run --no-sync physicalai-mujoco-so101 start --scene pick_place
+```
+
+### Keyboard shortcut: cycle scenes
+
+When the MuJoCo viewer is open, press **`n`** (next scene) to cycle through available scenes. The scene switches at the next control cycle:
+
+- Loads the new scene XML
+- Updates the existing viewer with the new environment
+- Resets block joints, target bodies, and spawn parameters
+
+`--model` bypasses scene resolution entirely; only the exported scene XML path is loaded, and scene cycling is unavailable.
+
+## Current status and future improvements
+
+Planned/desired improvements:
+
+- More configurable camera presets (pose/FOV/fps via CLI or payload)
+- Scene randomization presets (object layouts, target marker variants, textures)
+- RTSP streaming sink (the frame-buffer plumbing is sink-agnostic; an RTSP
+  server such as `aiortsp` or MediaMTX can consume the same buffers later)
+- Optional richer sensor streams (depth/segmentation style outputs)
+- Additional sample tasks and policy playback recipes in this package