simforge-gym 0.2.0__tar.gz

simforge_gym-0.2.0/LICENSE

@@ -0,0 +1,202 @@
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simforge_gym-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: simforge-gym
+Version: 0.2.0
+Summary: Gymnasium environments, scenario-set task distributions and the runtime-protocol client for the SimForge runtime
+Author: SimForge
+License-Expression: Apache-2.0
+License-File: LICENSE
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.10
+Requires-Dist: gymnasium>=1.1
+Requires-Dist: numpy>=1.24
+Provides-Extra: dev
+Requires-Dist: build==1.3.0; extra == 'dev'
+Requires-Dist: pytest==9.1.1; extra == 'dev'
+Provides-Extra: ppo
+Requires-Dist: torch>=2.0; extra == 'ppo'
+Description-Content-Type: text/markdown
+
+# simforge-gym
+
+SimForge Gym: train driving models in SimForge on your own machine. Today that is reinforcement learning; supervised fine-tuning recipes are coming. `simforge-gym` gives you Gymnasium environments over the SimForge runtime, task sets on the released SimForge maps, training on SimForge datasets, and a PPO example. Apache-2.0. Dependencies: `numpy` and `gymnasium`; the PPO example adds `torch` (`pip install 'simforge-gym[ppo]'`).
+
+The episodes run in the SimForge runtime, a closed program you install after signing in; this package is the open client. It never imports runtime code and never substitutes another simulator: no runtime, no episode. Training runs locally; there is no cloud RL.
+
+`simforge-gym` 0.2.0 is the package formerly published as `simforge-rl` (frozen at 0.1.4): `pip install simforge-gym` and `import simforge_gym`, with the same API. Scenario-set and run files now carry `simforge-gym.*` schema ids.
+
+On Windows, the package requires a runtime that reports `capabilities.envSocketTransport: "named-pipe"` (the older `0.1.0+bfd484b7727b1cfd` runtime cannot run local RL). Update with `simforge runtime install`; older runtimes fail with `runtime_upgrade_required`. The same env-serve protocol uses secure same-user named pipes on Windows and Unix sockets on macOS/Linux.
+
+## Quickstart (CPU only)
+
+State observations need no GPU. With the `simforge` CLI installed:
+
+```sh
+simforge login                                                 # a browser approves the device code
+simforge runtime install --accept-license                      # the closed runtime, under ~/.local/share/simforge/runtime
+simforge maps pull richmond-field-station@v9 --accept-license  # a released map
+pip install 'simforge-gym[ppo]'
+python -m simforge_gym.examples.ppo --tasks richmond-field-station --runtime --num-envs 8 --total-timesteps 200000 --out run/
+```
+
+`run/` then holds `curve.csv`, `curve.svg`, `metadata.json` and `policy.pt`. `--runtime` runs each vector worker's episodes in its own `simforge-runtime serve` process; without it the example starts `simforge env serve` processes through the CLI instead. Both give the same observations and rewards.
+
+In Python:
+
+```python
+from simforge_gym import RuntimeSessions, ScenarioSet, make_vector_env
+
+tasks = ScenarioSet.bundled("richmond-field-station")          # 24 tasks: 15 templates at verified sites
+with RuntimeSessions(tasks, "--no-sensors", workdir="work") as sessions:
+    envs = make_vector_env(tasks, sessions.transports(), num_envs=8)
+    obs, info = envs.reset(seed=0)
+    obs, reward, terminated, truncated, info = envs.step(envs.action_space.sample())   # [target_speed_mps, target_accel_mps2] per env
+```
+
+## Task sets on the released maps
+
+`bundled_sets()` names the task sets shipped with the package: `belmont-research-center`, `easterbrook-discovery-school`, `el-camino-road`, `richmond-field-station` and `yale-street`, 24 to 29 tasks each. Each is a weighted set of scenario templates (car following, cut-ins, lead braking, crossing pedestrians and cyclists, unprotected turns, red-light runners, vehicles pulling out, ...), each at the sites of that map where it compiles and its authored episode runs, with every template weighted equally. A set is pinned to the OpenDRIVE digest of the map version it was verified on, so its episodes run on exactly that installed map: pull `NAME@VERSION` as the set's `map` says. [`evidence/task-sets/report.json`](evidence/task-sets/report.json) records every template, site and verification episode. Site ids come from the map pack's derived road data, so a republished pack comes with rebuilt sets (`scripts/build_task_sets.py`); a site the installed pack does not have fails with `no_site` rather than moving the task elsewhere.
+
+Every actor in the templates is in the public CARLA asset pack. The urban mixed template uses `carla.vehicle_fuso_mitsubishi` for its oncoming bus; `vehicle.bus` is the full-size procedural model and is not in that pack.
+
+## Train on a dataset
+
+```python
+tasks = ScenarioSet.from_dataset("data/my-dataset", split="train")   # a pulled folder
+tasks = ScenarioSet.from_dataset("usds_01JA...", split="train")      # your hosted dataset, pulled with `simforge datasets pull`
+```
+
+```sh
+simforge datasets pull usds_01JA... --include scenarios --out data/my-dataset
+python -m simforge_gym.examples.ppo --dataset data/my-dataset --split train --runtime --max-open 16 --eval-limit 8 --out run/
+```
+
+Both dataset formats work: the public SimForge dataset (`simforge.public-dataset/v1`) and hosted datasets pulled as files (`simforge.dataset-files/v1`). Every file is checked against its recorded digest and laid out once; a pulled scenario's episode is exactly the input its simulation ran, and every episode runs on the installed map the scenario's OpenDRIVE digest names. `--max-open` keeps at most that many sessions open per worker (least recently used close first), so a split of thousands of scenarios trains with a bounded number of sessions.
+
+## Camera observations
+
+`observation="sensors"` returns rendered camera passes keyed `"<sourceId>/<pass>"` (`rgb` uint8 HxWx4, `depth` float32 HxW) and nothing else: the policy sees no engine state, object ids, reward terms or events. Rendering needs a supported GPU and an installed map's 3D pack. `simforge_gym/examples/rigs/alpamayo-fisheye.car.rig.json` is an Alpamayo-style rig: a 120-degree f-theta (fisheye) front camera and a 30-degree front tele camera, 512x384. Its lens is a generic equidistant calibration, not one taken from a real vehicle.
+
+```sh
+simforge env serve ws --socket cam.sock --rig alpamayo-fisheye.car.rig.json --observation-profile sensors \
+  --passes rgb,depth --actor-closure "$(basename ~/.local/share/simforge/runtime/share/actors/closures/*.json .json)"
+```
+
+```python
+env = SimForgeEnv(SocketTransport("cam.sock"), observation="sensors")
+obs, info = env.reset(options={"episode_seed": 1})
+frame = obs["camera_front_wide_120fov/rgb"]          # (384, 512, 4) uint8
+```
+
+If the policy drives the ego off the map, the runtime has no camera pose for that step and renders nothing. The step then returns the last rendered camera observation, `truncated=True`, and the runtime's `sensor_host_absent` warning (naming the absent actor) in `info["render_warnings"]`. Reset to start the next episode. Only a reset whose ego is already out of the world raises, because there is no earlier frame to return.
+
+`ws` is a scenario workspace, for example `template_workspace(...)` of a bundled task. `simforge rig show alpamayo-fisheye.car.rig.json` reports each camera's field of view; the installed runtime plans the f-theta lens.
+
+## Rewards
+
+`reward_fn(native_reward, info) -> float` replaces the reward; `info["native_reward"]` keeps the runtime's. `WeightedTerms({"progress": 1.0, "proximity": 2.0, "comfort": 1.0})` reweights the runtime's reward terms and `EventPenalty({"collision": 10.0})` subtracts per engine event; both need a state observation mode.
+
+## The PPO result
+
+[`evidence/ppo-scenario-set`](evidence/ppo-scenario-set) is a recorded PPO run on the bundled Richmond Field Station set through the distributable runtime, with its learning curve, configuration and a same-seed repeat.
+
+The policy sees pose-free ego state and the eight nearest object rows and outputs a speed and acceleration setpoint. Each evaluation also runs the scenarios' authored ego control on the same tasks as a baseline. `python -m simforge_gym.examples.ppo --help` lists every flag.
+
+## More
+
+- [API reference](docs/api.md): environments, task sets, datasets, the runtime protocol client (episodes, CPU batches of up to 64 episodes, persistent worlds) and the PPO flags.
+- [RL methodology](docs/methodology.md): what the environment simulates, how it is evaluated, and what has been measured.
+
+## Development
+
+```sh
+uv run --project clients/gym --extra dev python -m pytest -q clients/gym/tests
+python3 scripts/sdk/toolkit-release.py build --ref HEAD --out "$TMPDIR/wheels"   # reproducible wheels
+```
+
+`SIMFORGE_BIN` and `SIMFORGE_GYM_TEST_MAP_DIR` (Richmond Field Station v9, in a directory named `richmond-field-station`) enable the live runtime tests; `SIMFORGE_GYM_TEST_SENSOR_MAP` and `SIMFORGE_GYM_TEST_ACTOR_CLOSURE` add the camera test. Without them those tests are skipped and say so. `scripts/build_task_sets.py` rebuilds the bundled task sets from installed map packs.

simforge_gym-0.2.0/README.md

@@ -0,0 +1,98 @@
+# simforge-gym
+
+SimForge Gym: train driving models in SimForge on your own machine. Today that is reinforcement learning; supervised fine-tuning recipes are coming. `simforge-gym` gives you Gymnasium environments over the SimForge runtime, task sets on the released SimForge maps, training on SimForge datasets, and a PPO example. Apache-2.0. Dependencies: `numpy` and `gymnasium`; the PPO example adds `torch` (`pip install 'simforge-gym[ppo]'`).
+
+The episodes run in the SimForge runtime, a closed program you install after signing in; this package is the open client. It never imports runtime code and never substitutes another simulator: no runtime, no episode. Training runs locally; there is no cloud RL.
+
+`simforge-gym` 0.2.0 is the package formerly published as `simforge-rl` (frozen at 0.1.4): `pip install simforge-gym` and `import simforge_gym`, with the same API. Scenario-set and run files now carry `simforge-gym.*` schema ids.
+
+On Windows, the package requires a runtime that reports `capabilities.envSocketTransport: "named-pipe"` (the older `0.1.0+bfd484b7727b1cfd` runtime cannot run local RL). Update with `simforge runtime install`; older runtimes fail with `runtime_upgrade_required`. The same env-serve protocol uses secure same-user named pipes on Windows and Unix sockets on macOS/Linux.
+
+## Quickstart (CPU only)
+
+State observations need no GPU. With the `simforge` CLI installed:
+
+```sh
+simforge login                                                 # a browser approves the device code
+simforge runtime install --accept-license                      # the closed runtime, under ~/.local/share/simforge/runtime
+simforge maps pull richmond-field-station@v9 --accept-license  # a released map
+pip install 'simforge-gym[ppo]'
+python -m simforge_gym.examples.ppo --tasks richmond-field-station --runtime --num-envs 8 --total-timesteps 200000 --out run/
+```
+
+`run/` then holds `curve.csv`, `curve.svg`, `metadata.json` and `policy.pt`. `--runtime` runs each vector worker's episodes in its own `simforge-runtime serve` process; without it the example starts `simforge env serve` processes through the CLI instead. Both give the same observations and rewards.
+
+In Python:
+
+```python
+from simforge_gym import RuntimeSessions, ScenarioSet, make_vector_env
+
+tasks = ScenarioSet.bundled("richmond-field-station")          # 24 tasks: 15 templates at verified sites
+with RuntimeSessions(tasks, "--no-sensors", workdir="work") as sessions:
+    envs = make_vector_env(tasks, sessions.transports(), num_envs=8)
+    obs, info = envs.reset(seed=0)
+    obs, reward, terminated, truncated, info = envs.step(envs.action_space.sample())   # [target_speed_mps, target_accel_mps2] per env
+```
+
+## Task sets on the released maps
+
+`bundled_sets()` names the task sets shipped with the package: `belmont-research-center`, `easterbrook-discovery-school`, `el-camino-road`, `richmond-field-station` and `yale-street`, 24 to 29 tasks each. Each is a weighted set of scenario templates (car following, cut-ins, lead braking, crossing pedestrians and cyclists, unprotected turns, red-light runners, vehicles pulling out, ...), each at the sites of that map where it compiles and its authored episode runs, with every template weighted equally. A set is pinned to the OpenDRIVE digest of the map version it was verified on, so its episodes run on exactly that installed map: pull `NAME@VERSION` as the set's `map` says. [`evidence/task-sets/report.json`](evidence/task-sets/report.json) records every template, site and verification episode. Site ids come from the map pack's derived road data, so a republished pack comes with rebuilt sets (`scripts/build_task_sets.py`); a site the installed pack does not have fails with `no_site` rather than moving the task elsewhere.
+
+Every actor in the templates is in the public CARLA asset pack. The urban mixed template uses `carla.vehicle_fuso_mitsubishi` for its oncoming bus; `vehicle.bus` is the full-size procedural model and is not in that pack.
+
+## Train on a dataset
+
+```python
+tasks = ScenarioSet.from_dataset("data/my-dataset", split="train")   # a pulled folder
+tasks = ScenarioSet.from_dataset("usds_01JA...", split="train")      # your hosted dataset, pulled with `simforge datasets pull`
+```
+
+```sh
+simforge datasets pull usds_01JA... --include scenarios --out data/my-dataset
+python -m simforge_gym.examples.ppo --dataset data/my-dataset --split train --runtime --max-open 16 --eval-limit 8 --out run/
+```
+
+Both dataset formats work: the public SimForge dataset (`simforge.public-dataset/v1`) and hosted datasets pulled as files (`simforge.dataset-files/v1`). Every file is checked against its recorded digest and laid out once; a pulled scenario's episode is exactly the input its simulation ran, and every episode runs on the installed map the scenario's OpenDRIVE digest names. `--max-open` keeps at most that many sessions open per worker (least recently used close first), so a split of thousands of scenarios trains with a bounded number of sessions.
+
+## Camera observations
+
+`observation="sensors"` returns rendered camera passes keyed `"<sourceId>/<pass>"` (`rgb` uint8 HxWx4, `depth` float32 HxW) and nothing else: the policy sees no engine state, object ids, reward terms or events. Rendering needs a supported GPU and an installed map's 3D pack. `simforge_gym/examples/rigs/alpamayo-fisheye.car.rig.json` is an Alpamayo-style rig: a 120-degree f-theta (fisheye) front camera and a 30-degree front tele camera, 512x384. Its lens is a generic equidistant calibration, not one taken from a real vehicle.
+
+```sh
+simforge env serve ws --socket cam.sock --rig alpamayo-fisheye.car.rig.json --observation-profile sensors \
+  --passes rgb,depth --actor-closure "$(basename ~/.local/share/simforge/runtime/share/actors/closures/*.json .json)"
+```
+
+```python
+env = SimForgeEnv(SocketTransport("cam.sock"), observation="sensors")
+obs, info = env.reset(options={"episode_seed": 1})
+frame = obs["camera_front_wide_120fov/rgb"]          # (384, 512, 4) uint8
+```
+
+If the policy drives the ego off the map, the runtime has no camera pose for that step and renders nothing. The step then returns the last rendered camera observation, `truncated=True`, and the runtime's `sensor_host_absent` warning (naming the absent actor) in `info["render_warnings"]`. Reset to start the next episode. Only a reset whose ego is already out of the world raises, because there is no earlier frame to return.
+
+`ws` is a scenario workspace, for example `template_workspace(...)` of a bundled task. `simforge rig show alpamayo-fisheye.car.rig.json` reports each camera's field of view; the installed runtime plans the f-theta lens.
+
+## Rewards
+
+`reward_fn(native_reward, info) -> float` replaces the reward; `info["native_reward"]` keeps the runtime's. `WeightedTerms({"progress": 1.0, "proximity": 2.0, "comfort": 1.0})` reweights the runtime's reward terms and `EventPenalty({"collision": 10.0})` subtracts per engine event; both need a state observation mode.
+
+## The PPO result
+
+[`evidence/ppo-scenario-set`](evidence/ppo-scenario-set) is a recorded PPO run on the bundled Richmond Field Station set through the distributable runtime, with its learning curve, configuration and a same-seed repeat.
+
+The policy sees pose-free ego state and the eight nearest object rows and outputs a speed and acceleration setpoint. Each evaluation also runs the scenarios' authored ego control on the same tasks as a baseline. `python -m simforge_gym.examples.ppo --help` lists every flag.
+
+## More
+
+- [API reference](docs/api.md): environments, task sets, datasets, the runtime protocol client (episodes, CPU batches of up to 64 episodes, persistent worlds) and the PPO flags.
+- [RL methodology](docs/methodology.md): what the environment simulates, how it is evaluated, and what has been measured.
+
+## Development
+
+```sh
+uv run --project clients/gym --extra dev python -m pytest -q clients/gym/tests
+python3 scripts/sdk/toolkit-release.py build --ref HEAD --out "$TMPDIR/wheels"   # reproducible wheels
+```
+
+`SIMFORGE_BIN` and `SIMFORGE_GYM_TEST_MAP_DIR` (Richmond Field Station v9, in a directory named `richmond-field-station`) enable the live runtime tests; `SIMFORGE_GYM_TEST_SENSOR_MAP` and `SIMFORGE_GYM_TEST_ACTOR_CLOSURE` add the camera test. Without them those tests are skipped and say so. `scripts/build_task_sets.py` rebuilds the bundled task sets from installed map packs.

simforge_gym-0.2.0/evidence/ppo-scenario-set/README.md

@@ -0,0 +1,53 @@
+# PPO on the bundled Richmond Field Station task set
+
+PPO from `simforge_rl.examples.ppo`, trained for 1,228,800 environment steps (10,832 episodes, 38 minutes at the lowest CPU priority on a 24-core CPU host with no GPU) on the bundled `richmond-field-station` task set: 24 tasks from 15 scenario templates, each at a verified site of Richmond Field Station v9 as its distribution map pack has it. Episodes ran in the distributable runtime (`simforge-runtime 0.1.0+c9e184cc1b0b6292`, engine 0.31.0, installed with `simforge runtime install`), one `simforge-runtime serve` per vector worker, and the package was the reproducibly built `simforge_rl-0.1.1` wheel.
+
+| | Initial policy | After training | Authored ego control |
+|---|---|---|---|
+| Mean evaluation return (24 tasks x 2 held-out seeds) | 0.79 | **2.74** | 0.71 |
+| Mean training return (last 128 episodes) | -1.39 at 41k steps | 3.50 | |
+
+![reward vs environment steps](curve.svg)
+
+The trained policy beats the scenarios' own authored driving on 12 of the 24 tasks and on average. It learned to cross behind cyclists and to pass well (cyclist-crossing-path@16d03889 20.3 against -8.2, oncoming-overtake@ddc37703 15.4 against 5.3, the unprotected left turn 11.0 against 2.9) and still crashes where the authored driving does not: both disabled-vehicle tasks, one lead-hard-brake and one parked-row task (about -7 to -8).
+
+| Task | Authored control | Initial policy | After training |
+|---|---|---|---|
+| adult-midblock-crossing@158aa402 | 4.94 | -7.38 | 8.46 |
+| adult-midblock-crossing@27d53507 | 3.20 | 8.80 | 0.67 |
+| backing-out-vehicle@02931707 | -0.00 | 5.33 | 5.54 |
+| backing-out-vehicle@2622e37c | -0.25 | -9.56 | -0.24 |
+| cpnco-parked-row@c7794a7c | 2.38 | -7.15 | 0.22 |
+| cpnco-parked-row@de9c337a | 2.40 | -7.06 | -7.08 |
+| cyclist-crossing-path@0e7787e6 | -8.60 | 7.27 | 5.24 |
+| cyclist-crossing-path@16d03889 | -8.17 | 8.43 | 20.25 |
+| disabled-vehicle@69939930 | 0.55 | -8.18 | -8.18 |
+| disabled-vehicle@894df17b | 1.22 | -8.26 | -8.28 |
+| lead-hard-brake@1e29b9bd | 1.88 | -7.58 | -7.73 |
+| lead-hard-brake@391af02d | 1.88 | -7.58 | 1.00 |
+| light-corridor@1c0e6bed | 1.99 | 7.63 | 9.49 |
+| ltap-opposing@9fc1b2c2 | 2.89 | 9.57 | 10.95 |
+| oncoming-overtake@b1ed39e5 | -8.92 | 10.23 | -8.54 |
+| oncoming-overtake@ddc37703 | 5.31 | 11.27 | 15.41 |
+| opposing-turn-encroachment@23afb358 | 1.20 | 6.55 | 9.68 |
+| queue-tail@1ae48fb3 | 1.55 | -7.62 | 0.20 |
+| queue-tail@e2e894a1 | 1.55 | -7.62 | 0.35 |
+| red-light-late-entry@027da72d | 5.02 | 5.02 | 4.84 |
+| right-turn-crosswalk@109e9d91 | 1.26 | 6.69 | 5.05 |
+| urban-mixed@42144495 | -0.89 | -8.44 | -0.98 |
+| vehicle-pulls-out@6fcaaefa | 2.38 | 9.80 | 0.15 |
+| vehicle-pulls-out@85b4ac66 | 2.29 | 8.78 | 9.29 |
+
+Evaluation uses the policy's mean action, so a single crash moves a task to about -7 to -10.
+
+- `curve.csv`: evaluation return (mean and per task) and training return against environment steps, every 10 updates.
+- `metadata.json`: configuration, the map pin, every task's template digest and site, runtime and package versions.
+- `reproducibility.json`: runtime release, archive and binary digests, wheel digest, map, policy and curve digests, and the same-seed repeat.
+
+Reproduce, after `simforge runtime install` and `simforge maps pull richmond-field-station@v9`:
+
+```sh
+pip install 'simforge-rl[ppo]==0.1.1'
+python -m simforge_rl.examples.ppo --tasks richmond-field-station --runtime --num-envs 32 \
+  --total-timesteps 1228800 --eval-every 10 --seed 0 --out run --json
+```

simforge_gym-0.2.0/pyproject.toml

@@ -0,0 +1,31 @@
+[project]
+name = "simforge-gym"
+version = "0.2.0"
+description = "Gymnasium environments, scenario-set task distributions and the runtime-protocol client for the SimForge runtime"
+readme = "README.md"
+requires-python = ">=3.10"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+authors = [{ name = "SimForge" }]
+classifiers = ["Programming Language :: Python :: 3", "Topic :: Scientific/Engineering :: Artificial Intelligence"]
+dependencies = [
+    "gymnasium>=1.1",
+    "numpy>=1.24",
+]
+
+[project.optional-dependencies]
+ppo = ["torch>=2.0"]
+dev = ["build==1.3.0", "pytest==9.1.1"]
+
+[build-system]
+requires = ["hatchling==1.27.0"]
+build-backend = "hatchling.build"
+
+[tool.hatch.build.targets.wheel]
+packages = ["simforge_gym"]
+
+[tool.hatch.build.targets.sdist]
+include = ["simforge_gym", "tests", "examples", "LICENSE", "README.md"]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]

simforge_gym-0.2.0/simforge_gym/__init__.py

@@ -0,0 +1,58 @@
+"""Gymnasium environments and the runtime-protocol client for the SimForge runtime."""
+
+import importlib.metadata
+
+from .env import SimForgeEnv, action_space_for, sensor_space, state_space
+from .rewards import EventPenalty, WeightedTerms, native
+from .batch import SimForgeBatchVectorEnv
+from .runtime import BatchResults, BatchRow, CommandResult, RuntimeBatch, RuntimeClient, RuntimeProtocolError
+from .datasets import DatasetError, dataset_scenarios, pull_dataset, read_dataset
+from .scenarios import MapPin, RuntimeSessions, Scenario, ScenarioServers, ScenarioSet, ScenarioSetEnv, bundled_sets
+from .server import EnvServer, template_workspace
+from .world import Subscription, TruthDelivery, WorldCheckpoint, WorldSession
+from .transport import EnvTransport, RuntimeEnvTransport, SocketTransport
+from .vector import make_vector_env
+from .wire import PROTOCOL, EnvServeError, ProtocolError
+
+__version__ = importlib.metadata.version("simforge-gym")
+
+__all__ = [
+    "PROTOCOL",
+    "BatchResults",
+    "BatchRow",
+    "CommandResult",
+    "RuntimeBatch",
+    "SimForgeBatchVectorEnv",
+    "Subscription",
+    "TruthDelivery",
+    "WorldCheckpoint",
+    "WorldSession",
+    "EnvServeError",
+    "EnvServer",
+    "EnvTransport",
+    "DatasetError",
+    "EventPenalty",
+    "MapPin",
+    "ProtocolError",
+    "RuntimeClient",
+    "RuntimeEnvTransport",
+    "RuntimeProtocolError",
+    "RuntimeSessions",
+    "Scenario",
+    "ScenarioServers",
+    "ScenarioSet",
+    "ScenarioSetEnv",
+    "SimForgeEnv",
+    "SocketTransport",
+    "WeightedTerms",
+    "action_space_for",
+    "bundled_sets",
+    "dataset_scenarios",
+    "make_vector_env",
+    "native",
+    "pull_dataset",
+    "read_dataset",
+    "sensor_space",
+    "state_space",
+    "template_workspace",
+]