simulac 0.0.2__tar.gz → 0.0.4__tar.gz

{simulac-0.0.2 → simulac-0.0.4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.3
 Name: simulac
-Version: 0.0.2
+Version: 0.0.4
 Summary: A CLI, library, and local server for interacting with the Tektonian backend.
 Keywords: robotics,robot-simulation,simulation,physics-engine,mujoco,newton,genesis,mjcf,urdf,usd
 Author: Jeuk Kang
@@ -13,7 +13,7 @@ Classifier: Programming Language :: Python :: 3.12
 Requires-Dist: pydantic<3
 Requires-Dist: duckdb>=1.4
 Requires-Dist: structlog>=25.5.0
-Requires-Dist: mujoco>=3.5.0
+Requires-Dist: mujoco>=3.7.0
 Requires-Dist: websockets>=15.0.1
 Requires-Dist: typer>=0.24.1
 Requires-Dist: zstd>=1.5.7.3
@@ -23,11 +23,11 @@ Requires-Dist: autodoc-pydantic>=2.2.0 ; extra == 'doc'
 Requires-Dist: furo>=2025.12.19 ; extra == 'doc'
 Requires-Dist: myst-parser>=4.0.1 ; extra == 'doc'
 Requires-Dist: sphinx>=8.1.3 ; extra == 'doc'
-Requires-Dist: genesis-world==0.3.12 ; extra == 'genesis'
-Requires-Dist: torch>=2.10.0 ; extra == 'genesis'
-Requires-Dist: newton>=1.0.0rc0 ; extra == 'newton'
-Requires-Dist: warp-lang>=1.12.0 ; extra == 'newton'
-Requires-Dist: mujoco-warp>=3.5.0.2 ; extra == 'newton'
+Requires-Dist: genesis-world==0.4.6 ; extra == 'genesis'
+Requires-Dist: torch>=2.11.0 ; extra == 'genesis'
+Requires-Dist: newton>=1.1.0 ; extra == 'newton'
+Requires-Dist: warp-lang>=1.12.1 ; extra == 'newton'
+Requires-Dist: mujoco-warp>=3.7.0.1 ; extra == 'newton'
 Requires-Python: >=3.12
 Project-URL: Homepage, https://tektonian.com
 Project-URL: Repository, https://github.com/Tektonian/Simulac
@@ -50,7 +50,7 @@ Simulac helps transition between the two worlds, and provides developer-friendly
 
 ## Installation
 
-Simulac requires Python 3.10 or later.
+Simulac requires Python 3.12 or later.
 
 ```bash
 $ pip install simulac

{simulac-0.0.2 → simulac-0.0.4}/README.md

@@ -12,7 +12,7 @@ Simulac helps transition between the two worlds, and provides developer-friendly
 
 ## Installation
 
-Simulac requires Python 3.10 or later.
+Simulac requires Python 3.12 or later.
 
 ```bash
 $ pip install simulac

{simulac-0.0.2 → simulac-0.0.4}/pyproject.toml

@@ -5,7 +5,7 @@ build-backend = "uv_build"
 
 [project]
 name = "simulac"
-version = "0.0.2"
+version = "0.0.4"
 description = "A CLI, library, and local server for interacting with the Tektonian backend."
 authors = [{ name = "Jeuk Kang", email = "gangjeuk@tektonian.com" }]
 keywords = [
@@ -41,7 +41,7 @@ dependencies = [
     "pydantic<3",
     "duckdb>=1.4",
     "structlog>=25.5.0",
-    "mujoco>=3.5.0",
+    "mujoco>=3.7.0",
     "websockets>=15.0.1",
     "typer>=0.24.1",
     "zstd>=1.5.7.3",
@@ -57,9 +57,9 @@ Homepage = "https://tektonian.com"
 Repository = "https://github.com/Tektonian/Simulac"
 
 [project.optional-dependencies]
-genesis = ["genesis-world==0.3.12", "torch>=2.10.0"]
+genesis = ["genesis-world==0.4.6", "torch>=2.11.0"]
 
-newton = ["newton>=1.0.0rc", "warp-lang>=1.12.0", "mujoco-warp>=3.5.0.2"]
+newton = ["newton>=1.1.0", "warp-lang>=1.12.1", "mujoco-warp>=3.7.0.1"]
 
 doc = [
     "autodoc-pydantic>=2.2.0",
@@ -97,7 +97,7 @@ docstring-code-format = true
 exclude = ["trash"]
 
 [tool.pyright]
-stubPath = ".typings"
+stubPath = ".typing"
 typeCheckingMode = "strict"
 
 [tool.ruff.lint.isort]

{simulac-0.0.2 → simulac-0.0.4}/simulac/__init__.py

@@ -1,4 +1,6 @@
-from .lib.world_maker.entity import Camera, Light, Robot, Stuff
+from __future__ import annotations
+
+from .lib.world_maker.entity import Camera, Robot, Stuff
 from .lib.world_maker.object import (
     CameraObject,
     Environment,
@@ -11,7 +13,6 @@ __all__ = [
     "Robot",
     "Stuff",
     "Camera",
-    "Light",
     "Environment",
     "RobotObject",
     "StuffObject",

simulac-0.0.4/simulac/cli/__init__.py

@@ -0,0 +1,90 @@
+from __future__ import annotations
+
+from importlib.metadata import PackageNotFoundError
+from importlib.metadata import version as pkg_version
+from typing import Annotated
+
+import typer
+
+from simulac.sdk import obtain_runtime
+
+from .auth import app as auth_app
+from .benchmark import app as benchmark_app
+from .common import TOKEN_PORTAL_URL
+from .config import show_config, show_envvars
+
+APP_HELP = "Simulac CLI"
+
+APP_EPILOG = "\n\n".join(
+    [
+        "If you are new to Simulac, start with `simulac auth login` and paste an API "
+        f"key from {TOKEN_PORTAL_URL}.",
+        "Examples:",
+        "-  $ simulac auth login",
+        "-  $ simulac auth whoami",
+        "-  $ simulac benchmark list Tektonian/Metaworld",
+        "-  $ simulac env",
+        "-  $ simulac config",
+    ]
+)
+
+app = typer.Typer(
+    add_completion=False,
+    no_args_is_help=True,
+    help=APP_HELP,
+    epilog=APP_EPILOG,
+)
+
+
+def _package_version() -> str:
+    try:
+        return pkg_version("simulac")
+    except PackageNotFoundError:
+        return "unknown"
+
+
+def _version_option_callback(value: bool) -> None:
+    if not value:
+        return
+    typer.echo(f"{_package_version()}")
+    raise typer.Exit()
+
+
+@app.callback()
+def root_callback(
+    ctx: typer.Context,
+    version: Annotated[
+        bool,
+        typer.Option(
+            "--version",
+            help="Show the installed Simulac version and exit.",
+            is_eager=True,
+            callback=_version_option_callback,
+        ),
+    ] = False,
+) -> None:
+    runtime = obtain_runtime()
+    ctx.obj = {"runtime": runtime}
+    del version
+
+
+app.add_typer(auth_app, name="auth", rich_help_panel="Main commands")
+app.add_typer(benchmark_app, name="benchmark", rich_help_panel="Main commands")
+app.command(
+    "config",
+    short_help="Show the effective Simulac configuration.",
+    rich_help_panel="Help commands",
+)(show_config)
+app.command(
+    "env",
+    short_help="Show raw Simulac environment variables.",
+    rich_help_panel="Help commands",
+)(show_envvars)
+
+
+def main() -> None:
+    app()
+
+
+if __name__ == "__main__":
+    main()

simulac-0.0.4/simulac/cli/auth.py

@@ -0,0 +1,127 @@
+from __future__ import annotations
+
+from pathlib import Path
+from typing import Annotated
+
+import typer
+
+from simulac.base.error.error import SimulacBaseError
+
+from .common import (
+    TOKEN_PORTAL_URL,
+    cast_context,
+    fetch_identity,
+    get_token_state,
+    mask_secret,
+    read_token,
+)
+
+AUTH_EPILOG = "\n\n".join(
+    [
+        "\b",
+        "Examples:",
+        "  $ simulac auth whoami",
+        "  $ simulac auth login",
+        "  $ simulac auth logout",
+    ]
+)
+
+app = typer.Typer(
+    add_completion=False,
+    no_args_is_help=True,
+    help="Authentication commands.",
+    epilog=AUTH_EPILOG,
+)
+
+
+def _save_token(token_path: Path, token: str) -> None:
+    token_path.parent.mkdir(parents=True, exist_ok=True)
+    token_path.write_text(token.strip() + "\n", encoding="utf-8")
+
+
+@app.command(
+    "login",
+    short_help="Save a Simulac API key locally.",
+    help=(
+        "Save a Simulac API key in the local credential cache.\n\n"
+        "If you are new to Simulac, create a key at "
+        f"{TOKEN_PORTAL_URL} and paste it when prompted."
+    ),
+)
+def login(
+    ctx: typer.Context,
+    apikey: Annotated[
+        str | None,
+        typer.Option(
+            "--apikey",
+            "-k",
+            prompt="Paste your Simulac API key from https://tektonian.com/settings/token\n\nAPI KEY",
+            hide_input=True,
+            help="Simulac API key to save in the local credential cache.",
+        ),
+    ] = None,
+) -> None:
+    env = cast_context(ctx).runtime.environment_variable
+
+    if apikey is None:
+        typer.echo("No API key provided. Nothing was saved.", err=True)
+        raise typer.Exit(code=1)
+
+    clean_apikey = apikey.strip()
+    if not clean_apikey:
+        typer.echo(
+            "The API key was empty after trimming whitespace. Nothing was saved.",
+            err=True,
+        )
+        raise typer.Exit(code=1)
+
+    _save_token(env.token_path, clean_apikey)
+
+    typer.echo(f"Saved: Simulac API key ({mask_secret(clean_apikey)})")
+    typer.echo(f"Location: {env.token_path}")
+
+
+@app.command(
+    "logout",
+    short_help="Delete the locally stored API key.",
+    help=(
+        "Remove the API key stored in the local credential cache.\n\n"
+        "This deletes the local file created by `simulac auth login` when it exists."
+    ),
+)
+def logout(ctx: typer.Context) -> None:
+    env = cast_context(ctx).runtime.environment_variable
+    stored_token = read_token(env.token_path)
+
+    if env.token_path.exists():
+        env.token_path.unlink(missing_ok=True)
+        typer.echo(f"Removed: API key ({mask_secret(stored_token)})")
+        typer.echo(f"Location: {env.token_path}")
+        typer.echo("Deleted file: local plain-text credential cache.")
+    else:
+        typer.echo("No local credential file was removed.")
+        typer.echo(f"Checked: {env.token_path}")
+        typer.echo("Data: No Simulac API key file was present.")
+
+
+@app.command("whoami", short_help="Validate the API key against the server.")
+def whoami(ctx: typer.Context) -> None:
+    env = cast_context(ctx).runtime.environment_variable
+    token_state = get_token_state(env)
+
+    if token_state.status != "PRESENT" or token_state.value is None:
+        typer.echo(
+            "A valid API key is required. Run `simulac auth login` or set `SIMULAC_API_KEY`.",
+            err=True,
+        )
+        raise typer.Exit(code=1)
+
+    try:
+        identity = fetch_identity(env.base_url, token_state.value)
+    except SimulacBaseError as exc:
+        typer.echo(exc.message, err=True)
+        raise typer.Exit(code=1) from exc
+
+    typer.echo(f"Endpoint: {identity.endpoint}")
+    typer.echo(f"User: {identity.user or 'unknown'}")
+    typer.echo(f"Email: {identity.email or 'unknown'}")

simulac-0.0.4/simulac/cli/benchmark.py

@@ -0,0 +1,40 @@
+from __future__ import annotations
+
+import typer
+
+from simulac.base.error.error import SimulacBaseError
+from simulac.lib.gym_style import get_env_list
+
+EPILOG = "\n\n".join(
+    [
+        "\b",
+        "Examples:",
+        "  $ simulac benchmark list Tektonian/Libero",
+        "  $ simulac benchmark list Tektonian/Metaworld",
+    ]
+)
+app = typer.Typer(
+    add_completion=False,
+    no_args_is_help=True,
+    help="Benchmark discovery commands.",
+    epilog=EPILOG,
+)
+
+
+@app.command("list", short_help="List environments for a benchmark.")
+def list_benchmark(
+    benchmark_id: str,
+) -> None:
+    try:
+        env_ids = get_env_list(benchmark_id)
+    except SimulacBaseError as exc:
+        typer.echo(exc.message, err=True)
+        raise typer.Exit(code=1) from exc
+    except Exception as exc:
+        typer.echo(f"Failed to fetch benchmark environments: {exc}", err=True)
+        raise typer.Exit(code=1) from exc
+
+    typer.echo(f"Benchmark: {benchmark_id}")
+    typer.echo(f"Environment Count: {len(env_ids)}")
+    for env_id in env_ids:
+        typer.echo(env_id)

simulac-0.0.4/simulac/cli/common.py

@@ -0,0 +1,147 @@
+from __future__ import annotations
+
+import os
+from dataclasses import dataclass
+from pathlib import Path
+from typing import TYPE_CHECKING, Any, Literal
+
+import requests
+import typer
+
+from simulac.base.envvar.envvar_service import EnvvarKeyValue
+from simulac.base.error.error import SimulacBaseError
+
+if TYPE_CHECKING:
+    from simulac.sdk.runtime import SimulacRuntime
+from simulac.base.envvar.envvar_service import IEnvvarService
+
+TOKEN_PORTAL_URL = "https://tektonian.com/settings/token"
+LOG_LEVEL_NAMES = ("off", "trace", "debug", "info", "warning", "error")
+
+
+@dataclass(slots=True)
+class TokenState:
+    status: Literal["PRESENT", "INVALID", "MISSING"]
+    source: Literal["SIMULAC_API_KEY", "FILE", "NONE"]
+    value: str | None
+    preview: str | None
+
+
+@dataclass(slots=True)
+class IdentityResult:
+    endpoint: str
+    user: str | None
+    email: str | None
+
+
+@dataclass(slots=True)
+class CliContext:
+    runtime: SimulacRuntime
+
+
+def cast_context(ctx: typer.Context) -> CliContext:
+    runtime = ctx.obj["runtime"]
+    return CliContext(runtime)
+
+
+def mask_secret(secret: str | None) -> str | None:
+    if not secret:
+        return None
+    return f"{secret[: len('tt_sim_')]}..."
+
+
+def read_token(token_path: Path) -> str | None:
+    if not token_path.exists() or not token_path.is_file():
+        return None
+
+    lines = token_path.read_text(encoding="utf-8").splitlines()
+    if not lines:
+        return None
+
+    token = lines[0].strip()
+    return token or None
+
+
+def get_token_state(env: IEnvvarService) -> TokenState:
+    env_token = os.environ.get(EnvvarKeyValue.SIMULAC_API_KEY.value)
+    file_token = read_token(env.token_path)
+
+    source = "NONE"
+    token = None
+    if env_token is not None and env_token.strip():
+        source = "SIMULAC_API_KEY"
+        token = env_token.strip()
+    elif file_token:
+        source = "FILE"
+        token = file_token
+
+    status = "MISSING"
+    if token:
+        status = "PRESENT" if len(token) > 40 else "INVALID"
+    return TokenState(
+        status=status,
+        source=source,
+        value=token,
+        preview=mask_secret(token),
+    )
+
+
+def collect_config_snapshot(env: IEnvvarService) -> dict[str, Any]:
+    env = env
+    token_state = get_token_state(env)
+    log_level_index = env.log_level
+    log_level = (
+        LOG_LEVEL_NAMES[log_level_index]
+        if 0 <= log_level_index < len(LOG_LEVEL_NAMES)
+        else f"unknown({log_level_index})"
+    )
+
+    return {
+        "app_root": str(env.app_root),
+        "asset_dir": str(env.asset_dir),
+        "base_url": env.base_url,
+        "cache_dir": str(env.simulac_cache_dir),
+        "log_file": str(env.log_file),
+        "log_level": log_level,
+        "tmp_dir": str(env.tmp_dir),
+        "token_path": str(env.token_path),
+        "token_source": token_state.source,
+        "token_status": token_state.status,
+    }
+
+
+def fetch_identity(base_url: str, token: str) -> IdentityResult:
+    headers = {"tt-apikey": token}
+    url = f"{base_url}/auth/whoami"
+
+    try:
+        response = requests.get(url, headers=headers, timeout=10)
+    except requests.RequestException as exc:
+        raise SimulacBaseError(
+            f"Failed to reach Simulac identity endpoint: {exc}"
+        ) from exc
+
+    if response.status_code >= 400:
+        raise SimulacBaseError("Authentication failed while validating the API key.")
+
+    try:
+        response.raise_for_status()
+    except Exception as exc:
+        detail = response.text.strip() or str(exc)
+        raise SimulacBaseError(
+            f"Identity lookup failed: {response.status_code} {detail}"
+        ) from exc
+
+    try:
+        payload_raw = response.json()
+    except ValueError as exc:
+        raise SimulacBaseError("Identity lookup returned a non-JSON response.") from exc
+
+    payload: dict[str, str] = (
+        payload_raw if isinstance(payload_raw, dict) else {"value": payload_raw}
+    )
+    return IdentityResult(
+        endpoint=url,
+        user=payload.get("user", None),
+        email=payload.get("email", None),
+    )

simulac-0.0.4/simulac/cli/config.py

@@ -0,0 +1,40 @@
+from __future__ import annotations
+
+import os
+
+import typer
+
+from simulac.base.envvar.envvar_service import EnvvarKeyValue
+
+from .common import cast_context, collect_config_snapshot, mask_secret
+
+
+def show_config(ctx: typer.Context) -> None:
+    env = cast_context(ctx).runtime.environment_variable
+    payload = collect_config_snapshot(env)
+    max_key_length = max(len(key) for key in payload.keys())
+
+    for key in payload.keys():
+        label = key.replace("_", " ").title()
+        typer.echo(f"{label:<{max_key_length}}: {payload[key]}")
+
+
+def show_envvars() -> None:
+    payload: dict[str, str | None] = {}
+    max_key_length = max(len(key.value) for key in EnvvarKeyValue)
+
+    for env_var in EnvvarKeyValue:
+        variable_name = env_var.value
+        raw_value = os.environ.get(variable_name)
+        display_value = (
+            mask_secret(raw_value.strip())
+            if variable_name == EnvvarKeyValue.SIMULAC_API_KEY.value and raw_value
+            else raw_value
+        )
+        payload[variable_name] = display_value
+
+    for env_var in EnvvarKeyValue:
+        variable_name = env_var.value
+        variable = payload[variable_name]
+        value = variable if variable is not None else "<unset>"
+        typer.echo(f"{variable_name:<{max_key_length}}: {value}")

{simulac-0.0.2 → simulac-0.0.4}/simulac/lib/gym_style/__init__.py

@@ -11,38 +11,20 @@ from simulac.sdk.runtime import obtain_runtime
 from .gym_style_environment import BenchmarkEnvironment, BenchmarkVecEnvironment
 
 
-@overload
 def init_bench(
     benchmark_id: str,
     env_id: str,
     seed: int = 0,
     /,
     benchmark_specific: dict[str, Any] = {},
-) -> BenchmarkEnvironment: ...
-@overload
-def init_bench(
-    benchmark_id: str,
-    env_id: None,
-    seed: int = 0,
-    /,
-    benchmark_specific: dict[str, Any] = {},
-) -> BenchmarkVecEnvironment: ...
-def init_bench(
-    benchmark_id: str,
-    env_id: Optional[str],
-    seed: int = 0,
-    /,
-    benchmark_specific: dict[str, Any] = {},
-):
+) -> BenchmarkEnvironment:
     """Initalize benchmark service
 
     Args:
         benchmark_id (str): Full benchmark id.\n
-            Example: benchmark_id="Tektonian/Libero"
-        env_id (Optional[str]): Environment id of the benchmark.\n
-            `env_id=None` means run all benchmark list\n
-            `env_id="libero_10"` means run all `"libero_10"` benchmark list\n
-            `env_id="libero_10/TASK_EXAMPLE"` means run one specific test\n
+            Example: benchmark_id="Tektonian/Metaworld"
+        env_id (str): Environment id of the benchmark.\n
+            Example: envid="reach-v3"
             If you want to see the full list of the `env_id` visit https://tektonian.com/benchmark
         seed (int, optional): Seed for inital state. Defaults to 0.
         benchmark_specific (dict[str, Any], optional): Benchmark specific option field.\n
@@ -50,19 +32,26 @@ def init_bench(
             Defaults to {}.
 
     Returns:
-        ret (BenchmarkEnvironment|BenchmarkVecEnvironment):
+        ret (BenchmarkEnvironment):
     """
     runtime = obtain_runtime()
     split_benchmark_id = benchmark_id.split("/")
     normalized_benchmark_id = benchmark_id.strip()
 
-    if len(split_benchmark_id) != 2:
+    MESSAGE = "\n".join(
+        [
+            f"Invalid benchmark_id {benchmark_id!r}. ",
+            "Expected '<organization>/<benchmark>', (e.g., 'Tektonian/Metaworld')",
+        ]
+    )
+    if len(split_benchmark_id) == 1:
+        raise SimulacBaseError(MESSAGE)
+    elif len(split_benchmark_id) != 2:
         runtime.logger.warn(
             "\n".join(
                 [
-                    f"Invalid benchmark_id {benchmark_id!r}. ",
-                    "Expected '<organization>/<benchmark>', ",
-                    "for example 'Tektonian/Libero'.",
+                    MESSAGE,
+                    f"Unused fields: '{split_benchmark_id[2:]}' will be removed",
                 ]
             )
         )
@@ -76,16 +65,16 @@ def init_bench(
             )
         )
 
-    if env_id is None:
-        vec_env = BenchmarkVecEnvironment([])
-        return vec_env
+    # Rename
+    (owner_id, world_id) = split_benchmark_id
 
     env = BenchmarkEnvironment(
-        "id",
-        benchmark_id,
+        owner_id,
+        world_id,
         env_id,
         seed,
         benchmark_specific,
+        error_recovery_enabled=False,
     )
 
     return env
@@ -129,6 +118,8 @@ def get_env_list(benchmark_id: str) -> list[str]:
 
 
 def make_vec(envs: list[BenchmarkEnvironment]):
+    for env in envs:
+        env._set_error_recovery_enabled(True)
     vec_env = BenchmarkVecEnvironment(envs)
     return vec_env