tinysim 0.0.2__py3-none-any.whl → 0.0.3__py3-none-any.whl

tinysim_mujoco/unitree_a1/unitree_a1/scene.xml

@@ -0,0 +1,23 @@
+<mujoco model="a1 scene">
+  <include file="a1.xml"/>
+
+  <statistic center="0 0 0.1" extent="0.8"/>
+
+  <visual>
+    <headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
+    <rgba haze="0.15 0.25 0.35 1"/>
+    <global azimuth="120" elevation="-20"/>
+  </visual>
+
+  <asset>
+    <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
+    <texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
+      markrgb="0.8 0.8 0.8" width="300" height="300"/>
+    <material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
+  </asset>
+
+  <worldbody>
+    <light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
+    <geom name="floor" size="0 0 0.05" type="plane" material="groundplane" contype="1" conaffinity="1"/>
+  </worldbody>
+</mujoco>

tinysim_warp/cart_pole/__init__.py

@@ -23,7 +23,7 @@ def compute_env_offsets(num_envs, env_offset=(5.0, 0.0, 0.0)):
     return env_offsets
 
 
-class CartPoleExample:
+class CartPoleBaseEnv:
     def __init__(self, use_cuda_graph=False, headless=False, num_envs=3):
         self.actions = np.array([0.0, 0.5, -0.5])
         self.num_envs = num_envs
@@ -215,7 +215,7 @@ if __name__ == "__main__":
         import keyboard
 
     with wp.ScopedDevice(args.device):
-        example = CartPoleExample(use_cuda_graph=True)
+        example = CartPoleBaseEnv(use_cuda_graph=True)
 
         terminated = False
         check_terminated = True

tinysim_warp/quadruped/__init__.py

@@ -24,7 +24,7 @@ def compute_env_offsets(num_envs, env_offset=(5.0, 0.0, 0.0)):
     return env_offsets
 
 
-class RobotDogExample:
+class RobotDogBaseEnv:
     def __init__(self, use_cuda_graph=False, headless=False, num_envs=8):
         articulation_builder = wp.sim.ModelBuilder()
         rot_x = wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)
@@ -158,7 +158,7 @@ if __name__ == "__main__":
     args = parser.parse_known_args()[0]
 
     with wp.ScopedDevice(args.device):
-        example = RobotDogExample(num_envs=args.num_envs)
+        example = RobotDogBaseEnv(num_envs=args.num_envs)
         # [
         #     (front right leg out),
         #     (front right leg forward),

tinysim_warp/simple_quadruped/__init__.py

@@ -24,7 +24,7 @@ def compute_env_offsets(num_envs, env_offset=(5.0, 0.0, 0.0)):
     return env_offsets
 
 
-class SimpleRobotDogExample:
+class SimpleRobotDogBaseEnv:
     def __init__(self, use_cuda_graph=False, headless=False, num_envs=8):
         articulation_builder = wp.sim.ModelBuilder()
         rot_x = wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)
@@ -159,7 +159,7 @@ if __name__ == "__main__":
     args = parser.parse_known_args()[0]
 
     with wp.ScopedDevice(args.device):
-        example = SimpleRobotDogExample(num_envs=args.num_envs)
+        example = SimpleRobotDogBaseEnv(num_envs=args.num_envs)
 
         for frame in range(args.num_frames):
             example.step(np.zeros(8).repeat(args.num_envs))

tinysim-0.0.2.dist-info/METADATA

@@ -1,56 +0,0 @@
-Metadata-Version: 2.4
-Name: tinysim
-Version: 0.0.2
-Summary: small modular simulation environments
-Author-email: Matthew Taylor <matthew.taylor.andre@gmail.com>
-Project-URL: Homepage, https://github.com/MatthewAndreTaylor/TinySim
-Keywords: jupyter,simulation
-Classifier: Framework :: Jupyter
-Classifier: Framework :: Jupyter :: JupyterLab
-Classifier: Framework :: Jupyter :: JupyterLab :: 4
-Classifier: Framework :: Jupyter :: JupyterLab :: Extensions
-Classifier: Programming Language :: Python
-Classifier: Programming Language :: Python :: 3
-Classifier: Programming Language :: Python :: 3.9
-Classifier: Programming Language :: Python :: 3.10
-Classifier: Programming Language :: Python :: 3.11
-Classifier: Programming Language :: Python :: 3.12
-Classifier: Programming Language :: Python :: 3.13
-Requires-Python: >=3.9
-Description-Content-Type: text/markdown
-Requires-Dist: numpy
-Requires-Dist: anywidget
-Requires-Dist: jupyter-ui-poll
-Provides-Extra: warp
-Requires-Dist: warp-lang==1.8.1; extra == "warp"
-
-
-# TinySim 
-
-[![PyPI](https://img.shields.io/pypi/v/tinysim.svg)](https://pypi.org/project/tinysim)
-[![Jupyterlite](https://jupyterlite.rtfd.io/en/latest/_static/badge.svg)](https://matthewandretaylor.github.io/TinySim/lab?path=example.ipynb)
-
-The goal of this project is to create more minimal simulation environments for robotics and machine learning.
-
-Existing solutions like [ROS 2](https://github.com/ros2) and [Gymnasium](https://gymnasium.farama.org/) come with many heavy dependencies.
-
-Additionally they are usually difficult to get setup and may require domain specific knowledge to use.
-Simulation environments should be able to run in any notebook environment and require fewer dependencies.
-
-
-## Get Started 🚀
-
-To use the baseline Python only simulation environments.
-
-```bash
-pip install tinysim
-```
-
-To use the [warp](https://github.com/NVIDIA/warp) simulation environments.
-
-```bash
-pip install tinysim[warp]
-```
-
-
-