rlinf-robotwin-runtime 0.1.0__tar.gz

rlinf_robotwin_runtime-0.1.0/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Tianxing Chen (陈天行)
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

rlinf_robotwin_runtime-0.1.0/MANIFEST.in

@@ -0,0 +1,4 @@
+include LICENSE
+graft robotwin/configs
+graft robotwin/description/task_instruction
+graft robotwin/description/objects_description

rlinf_robotwin_runtime-0.1.0/PKG-INFO

@@ -0,0 +1,169 @@
+Metadata-Version: 2.4
+Name: rlinf-robotwin-runtime
+Version: 0.1.0
+Summary: Installable RoboTwin runtime and dependency contract maintained for RLinf
+Author: RLinf Contributors
+Maintainer: RLinf Team
+License: MIT License
+        
+        Copyright (c) 2025 Tianxing Chen (陈天行)
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.
+Project-URL: Homepage, https://github.com/RLinf/RoboTwin
+Project-URL: Repository, https://github.com/RLinf/RoboTwin
+Classifier: Development Status :: 2 - Pre-Alpha
+Classifier: Environment :: GPU :: NVIDIA CUDA :: 12
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Requires-Python: <3.12,>=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: gymnasium==0.29.1
+Requires-Dist: huggingface-hub>=0.27.1
+Requires-Dist: imageio<3,>=2.36.1
+Requires-Dist: matplotlib
+Requires-Dist: mplib==0.2.1; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: numpy==1.26.4
+Requires-Dist: opencv-python<5,>=4.10.0.84
+Requires-Dist: open3d==0.18.0; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: pillow>=10
+Requires-Dist: pyyaml
+Requires-Dist: sapien==3.0.0b1; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: scipy<2,>=1.15.3
+Requires-Dist: setuptools<75.9,>=69.5.1
+Requires-Dist: torch==2.7.1
+Requires-Dist: toppra==0.6.3
+Requires-Dist: transforms3d==0.4.2
+Requires-Dist: trimesh==4.4.3
+Requires-Dist: warp-lang==1.11.1; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: yourdfpy>=0.0.53
+Dynamic: license-file
+
+# RoboTwin 2.0 — RLinf Support Status
+
+<b>Contributed by RLinf team</b>
+
+[RoboTwin 2.0](https://github.com/RoboTwin-Platform/RoboTwin.git) now includes **initial RLinf integration**, enabling reinforcement learning training across a wide range of robot manipulation tasks.  
+
+At this stage, **RLinf-style reward functions have been implemented for a subset of RoboTwin tasks**.  
+Support for the remaining tasks is actively under development.
+
+---
+
+## ✅ Currently Supported Tasks (with RLinf Rewards)
+
+The following tasks are **fully supported with RLinf-compatible reward functions** and can be directly used for reinforcement learning training:
+
+### Manipulation & Placement
+- `adjust_bottle`
+- `place_a2b_left`
+- `place_a2b_right`
+- `place_bread_basket`
+- `place_bread_skillet`
+- `place_burger_fries`
+- `place_can_basket`
+- `place_cans_plasticbox`
+- `place_container_plate`
+- `place_dual_shoes`
+- `place_empty_cup`
+- `place_fan`
+- `place_mouse_pad`
+- `place_object_basket`
+- `place_object_stand`
+- `place_phone_stand`
+- `place_shoe`
+
+### Pick, Move & Transport
+- `pick_diverse_bottles`
+- `pick_dual_bottles`
+- `move_can_pot`
+- `move_pillbottle_pad`
+- `move_playingcard_away`
+- `move_stapler_pad`
+- `grab_roller`
+- `lift_pot`
+- `put_bottles_dustbin`
+
+### Stacking & Ranking
+- `stack_blocks_two`
+- `stack_blocks_three`
+- `stack_bowls_two`
+- `stack_bowls_three`
+- `blocks_ranking_rgb`
+- `blocks_ranking_size`
+
+### Tool Use & Interaction
+- `beat_block_hammer`
+- `press_stapler`
+- `stamp_seal`
+- `turn_switch`
+- `click_bell`
+- `click_alarmclock`
+- `open_microwave`
+
+### Handover & Human-Object Interaction
+- `handover_block`
+- `handover_mic`
+
+### Pouring, Dumping & Shaking
+- `shake_bottle`
+- `shake_bottle_horizontally`
+- `dump_bin_bigbin`
+
+### Hanging & Special Tasks
+- `hanging_mug`
+- `scan_object`
+- `rotate_qrcode`
+
+---
+## ❌ Currently Unsupported Tasks (RLinf Rewards Not Yet Available)
+- `open_laptop`
+- `place_object_scale`
+- `put_object_cabinet`
+
+---
+## 🚧 Work in Progress
+
+We are continuously extending RLinf reward support to **all RoboTwin 2.0 tasks**, including more complex long-horizon manipulation and multi-object interaction scenarios.
+
+New task support and reward refinements will be released incrementally.
+
+---
+
+## 📢 Contributions & Feedback
+
+Community feedback and contributions are highly welcome.  
+If you encounter issues, missing reward definitions, or would like to contribute improvements, please feel free to submit:
+
+- GitHub issues  
+- Pull requests  
+- Feature requests  
+
+---
+
+## 📅 Latest Update
+
+**RoboTwin 2.0 RLinf compatibility confirmed** —  
+All tasks listed above are currently supported with RLinf-style rewards.
+
+---
+
+Thank you for using **RoboTwin 2.0** with **RLinf**!

rlinf_robotwin_runtime-0.1.0/README.md

@@ -0,0 +1,110 @@
+# RoboTwin 2.0 — RLinf Support Status
+
+<b>Contributed by RLinf team</b>
+
+[RoboTwin 2.0](https://github.com/RoboTwin-Platform/RoboTwin.git) now includes **initial RLinf integration**, enabling reinforcement learning training across a wide range of robot manipulation tasks.  
+
+At this stage, **RLinf-style reward functions have been implemented for a subset of RoboTwin tasks**.  
+Support for the remaining tasks is actively under development.
+
+---
+
+## ✅ Currently Supported Tasks (with RLinf Rewards)
+
+The following tasks are **fully supported with RLinf-compatible reward functions** and can be directly used for reinforcement learning training:
+
+### Manipulation & Placement
+- `adjust_bottle`
+- `place_a2b_left`
+- `place_a2b_right`
+- `place_bread_basket`
+- `place_bread_skillet`
+- `place_burger_fries`
+- `place_can_basket`
+- `place_cans_plasticbox`
+- `place_container_plate`
+- `place_dual_shoes`
+- `place_empty_cup`
+- `place_fan`
+- `place_mouse_pad`
+- `place_object_basket`
+- `place_object_stand`
+- `place_phone_stand`
+- `place_shoe`
+
+### Pick, Move & Transport
+- `pick_diverse_bottles`
+- `pick_dual_bottles`
+- `move_can_pot`
+- `move_pillbottle_pad`
+- `move_playingcard_away`
+- `move_stapler_pad`
+- `grab_roller`
+- `lift_pot`
+- `put_bottles_dustbin`
+
+### Stacking & Ranking
+- `stack_blocks_two`
+- `stack_blocks_three`
+- `stack_bowls_two`
+- `stack_bowls_three`
+- `blocks_ranking_rgb`
+- `blocks_ranking_size`
+
+### Tool Use & Interaction
+- `beat_block_hammer`
+- `press_stapler`
+- `stamp_seal`
+- `turn_switch`
+- `click_bell`
+- `click_alarmclock`
+- `open_microwave`
+
+### Handover & Human-Object Interaction
+- `handover_block`
+- `handover_mic`
+
+### Pouring, Dumping & Shaking
+- `shake_bottle`
+- `shake_bottle_horizontally`
+- `dump_bin_bigbin`
+
+### Hanging & Special Tasks
+- `hanging_mug`
+- `scan_object`
+- `rotate_qrcode`
+
+---
+## ❌ Currently Unsupported Tasks (RLinf Rewards Not Yet Available)
+- `open_laptop`
+- `place_object_scale`
+- `put_object_cabinet`
+
+---
+## 🚧 Work in Progress
+
+We are continuously extending RLinf reward support to **all RoboTwin 2.0 tasks**, including more complex long-horizon manipulation and multi-object interaction scenarios.
+
+New task support and reward refinements will be released incrementally.
+
+---
+
+## 📢 Contributions & Feedback
+
+Community feedback and contributions are highly welcome.  
+If you encounter issues, missing reward definitions, or would like to contribute improvements, please feel free to submit:
+
+- GitHub issues  
+- Pull requests  
+- Feature requests  
+
+---
+
+## 📅 Latest Update
+
+**RoboTwin 2.0 RLinf compatibility confirmed** —  
+All tasks listed above are currently supported with RLinf-style rewards.
+
+---
+
+Thank you for using **RoboTwin 2.0** with **RLinf**!

rlinf_robotwin_runtime-0.1.0/pyproject.toml

@@ -0,0 +1,98 @@
+[build-system]
+requires = ["setuptools>=69", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "rlinf-robotwin-runtime"
+version = "0.1.0"
+description = "Installable RoboTwin runtime and dependency contract maintained for RLinf"
+readme = "README.md"
+license = {file = "LICENSE"}
+requires-python = ">=3.10,<3.12"
+authors = [{name = "RLinf Contributors"}]
+maintainers = [{name = "RLinf Team"}]
+classifiers = [
+    "Development Status :: 2 - Pre-Alpha",
+    "Environment :: GPU :: NVIDIA CUDA :: 12",
+    "License :: OSI Approved :: MIT License",
+    "Operating System :: POSIX :: Linux",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+]
+# cuRobo is an optional planner dependency (``robotwin/envs/robot/planner.py``
+# imports it behind a try/except that falls back to ``CuroboPlanner = None``).
+# The public RoboTwin runtime wheel does NOT declare cuRobo — public-index
+# distributions should not carry direct-URL source dependencies. cuRobo's
+# source ownership lives entirely in the integrator: RPent's ``[robotwin]``
+# extra pins ``nvidia-curobo @ git+https://github.com/NVlabs/curobo.git@v0.7.8``
+# and supplies the build-time Torch override via
+# ``[tool.uv.extra-build-dependencies]``, so a plain
+# ``uv pip install -e ".[robotwin]"`` builds it with no post-install step.
+dependencies = [
+    "gymnasium==0.29.1",
+    "huggingface-hub>=0.27.1",
+    "imageio>=2.36.1,<3",
+    "matplotlib",
+    # mplib stays a runtime dep: robotwin/envs/robot/planner.py does a top-level
+    # ``import mplib`` (reached via _base_task -> Robot -> from .planner import),
+    # so it is a hard import-time dep; and MplibPlanner (the TOPP post-processor)
+    # is constructed on the default task path (_base_task hardcodes need_topp=True).
+    # Only MplibWrapperPlanner (planner_backend=="mplib") is unused -- env_server
+    # hardcodes planner_backend="curobo". See script/_install.sh (Phase 4).
+    "mplib==0.2.1; platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "numpy==1.26.4",
+    # Non-headless (not opencv-python-headless): sapien==3.0.0b1 transitively
+    # requires ``opencv-python>=4.0`` (non-headless), so declaring headless
+    # here would install BOTH variants, recreating the cv2/ directory duality
+    # (the two wheels share cv2/ and overwrite each other's files). Using the
+    # full ``opencv-python>=4.10.0.84,<5`` satisfies sapien's requirement as a
+    # single install — the headless optimization is unreachable while sapien
+    # forces the full variant. cv2 is not imported on the inference path
+    # (Phase 6 import trace), so the GUI components are unused but harmless.
+    # Round 3 raised the floor to 4.10.0.84 to align with OpenPI
+    # (``opencv-python>=4.10.0.84``) and RLDX-rpent's 4.11 line. Note a
+    # residual structural conflict remains vs RLDX-rpent, which pins the
+    # *different distribution* ``opencv-contrib-python-headless``: both
+    # provide ``cv2/`` and collide in a shared venv. That is documented in
+    # the Round 3 pairwise report (Gate 5); it cannot be fixed from this
+    # side while SAPIEN forces the non-headless variant.
+    "opencv-python>=4.10.0.84,<5",
+    "open3d==0.18.0; platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "pillow>=10",
+    "pyyaml",
+    "sapien==3.0.0b1; platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "scipy>=1.15.3,<2",
+    "setuptools>=69.5.1,<75.9",
+    "torch==2.7.1",
+    "toppra==0.6.3",
+    "transforms3d==0.4.2",
+    "trimesh==4.4.3",
+    "warp-lang==1.11.1; platform_system == 'Linux' and platform_machine == 'x86_64'",
+    "yourdfpy>=0.0.53",
+]
+
+[project.scripts]
+robotwin-download-assets = "robotwin.assets:main"
+
+[project.urls]
+Homepage = "https://github.com/RLinf/RoboTwin"
+Repository = "https://github.com/RLinf/RoboTwin"
+
+[tool.setuptools]
+include-package-data = true
+
+[tool.setuptools.packages.find]
+where = ["."]
+include = ["robotwin*"]
+exclude = ["script*", "description*", "task_config*", "tests*"]
+
+[tool.setuptools.package-data]
+robotwin = [
+    "configs/task/*.yml",
+    "description/task_instruction/*.json",
+    "description/objects_description/**/*.json",
+]
+
+[tool.ruff]
+line-length = 100
+target-version = "py310"

rlinf_robotwin_runtime-0.1.0/rlinf_robotwin_runtime.egg-info/PKG-INFO

@@ -0,0 +1,169 @@
+Metadata-Version: 2.4
+Name: rlinf-robotwin-runtime
+Version: 0.1.0
+Summary: Installable RoboTwin runtime and dependency contract maintained for RLinf
+Author: RLinf Contributors
+Maintainer: RLinf Team
+License: MIT License
+        
+        Copyright (c) 2025 Tianxing Chen (陈天行)
+        
+        Permission is hereby granted, free of charge, to any person obtaining a copy
+        of this software and associated documentation files (the "Software"), to deal
+        in the Software without restriction, including without limitation the rights
+        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+        copies of the Software, and to permit persons to whom the Software is
+        furnished to do so, subject to the following conditions:
+        
+        The above copyright notice and this permission notice shall be included in all
+        copies or substantial portions of the Software.
+        
+        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+        SOFTWARE.
+Project-URL: Homepage, https://github.com/RLinf/RoboTwin
+Project-URL: Repository, https://github.com/RLinf/RoboTwin
+Classifier: Development Status :: 2 - Pre-Alpha
+Classifier: Environment :: GPU :: NVIDIA CUDA :: 12
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Requires-Python: <3.12,>=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: gymnasium==0.29.1
+Requires-Dist: huggingface-hub>=0.27.1
+Requires-Dist: imageio<3,>=2.36.1
+Requires-Dist: matplotlib
+Requires-Dist: mplib==0.2.1; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: numpy==1.26.4
+Requires-Dist: opencv-python<5,>=4.10.0.84
+Requires-Dist: open3d==0.18.0; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: pillow>=10
+Requires-Dist: pyyaml
+Requires-Dist: sapien==3.0.0b1; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: scipy<2,>=1.15.3
+Requires-Dist: setuptools<75.9,>=69.5.1
+Requires-Dist: torch==2.7.1
+Requires-Dist: toppra==0.6.3
+Requires-Dist: transforms3d==0.4.2
+Requires-Dist: trimesh==4.4.3
+Requires-Dist: warp-lang==1.11.1; platform_system == "Linux" and platform_machine == "x86_64"
+Requires-Dist: yourdfpy>=0.0.53
+Dynamic: license-file
+
+# RoboTwin 2.0 — RLinf Support Status
+
+<b>Contributed by RLinf team</b>
+
+[RoboTwin 2.0](https://github.com/RoboTwin-Platform/RoboTwin.git) now includes **initial RLinf integration**, enabling reinforcement learning training across a wide range of robot manipulation tasks.  
+
+At this stage, **RLinf-style reward functions have been implemented for a subset of RoboTwin tasks**.  
+Support for the remaining tasks is actively under development.
+
+---
+
+## ✅ Currently Supported Tasks (with RLinf Rewards)
+
+The following tasks are **fully supported with RLinf-compatible reward functions** and can be directly used for reinforcement learning training:
+
+### Manipulation & Placement
+- `adjust_bottle`
+- `place_a2b_left`
+- `place_a2b_right`
+- `place_bread_basket`
+- `place_bread_skillet`
+- `place_burger_fries`
+- `place_can_basket`
+- `place_cans_plasticbox`
+- `place_container_plate`
+- `place_dual_shoes`
+- `place_empty_cup`
+- `place_fan`
+- `place_mouse_pad`
+- `place_object_basket`
+- `place_object_stand`
+- `place_phone_stand`
+- `place_shoe`
+
+### Pick, Move & Transport
+- `pick_diverse_bottles`
+- `pick_dual_bottles`
+- `move_can_pot`
+- `move_pillbottle_pad`
+- `move_playingcard_away`
+- `move_stapler_pad`
+- `grab_roller`
+- `lift_pot`
+- `put_bottles_dustbin`
+
+### Stacking & Ranking
+- `stack_blocks_two`
+- `stack_blocks_three`
+- `stack_bowls_two`
+- `stack_bowls_three`
+- `blocks_ranking_rgb`
+- `blocks_ranking_size`
+
+### Tool Use & Interaction
+- `beat_block_hammer`
+- `press_stapler`
+- `stamp_seal`
+- `turn_switch`
+- `click_bell`
+- `click_alarmclock`
+- `open_microwave`
+
+### Handover & Human-Object Interaction
+- `handover_block`
+- `handover_mic`
+
+### Pouring, Dumping & Shaking
+- `shake_bottle`
+- `shake_bottle_horizontally`
+- `dump_bin_bigbin`
+
+### Hanging & Special Tasks
+- `hanging_mug`
+- `scan_object`
+- `rotate_qrcode`
+
+---
+## ❌ Currently Unsupported Tasks (RLinf Rewards Not Yet Available)
+- `open_laptop`
+- `place_object_scale`
+- `put_object_cabinet`
+
+---
+## 🚧 Work in Progress
+
+We are continuously extending RLinf reward support to **all RoboTwin 2.0 tasks**, including more complex long-horizon manipulation and multi-object interaction scenarios.
+
+New task support and reward refinements will be released incrementally.
+
+---
+
+## 📢 Contributions & Feedback
+
+Community feedback and contributions are highly welcome.  
+If you encounter issues, missing reward definitions, or would like to contribute improvements, please feel free to submit:
+
+- GitHub issues  
+- Pull requests  
+- Feature requests  
+
+---
+
+## 📅 Latest Update
+
+**RoboTwin 2.0 RLinf compatibility confirmed** —  
+All tasks listed above are currently supported with RLinf-style rewards.
+
+---
+
+Thank you for using **RoboTwin 2.0** with **RLinf**!