tinysim 0.0.2__py3-none-any.whl → 0.0.4__py3-none-any.whl

tinysim/frogger/tk.py

@@ -21,6 +21,8 @@ class FroggerTkFrontend(_tk_base.TkBaseFrontend):
         self.sim_env = sim_env
         self._viewport_size = viewport_size
 
+        self.keys = set()
+
     async def step(self, action, dt=0.01):
         state = self.sim_env.step(action, dt=dt)
         if self._root:
@@ -42,6 +44,10 @@ class FroggerTkFrontend(_tk_base.TkBaseFrontend):
         canvas.pack(fill="both", expand=True)
         self._root = root
         self._canvas = canvas
+
+        root.bind("<KeyPress>", lambda e: self.keys.add(e.keysym))
+        root.bind("<KeyRelease>", lambda e: self.keys.discard(e.keysym))
+
         self.bring_to_front(root)
         self._draw_state(self.sim_env)
         self._pump()

tinysim/topdown_driving/widget.py

@@ -14,7 +14,7 @@ class TopDownDrivingWidget(anywidget.AnyWidget):
 
     sim_state = traitlets.Dict(default_value={}).tag(sync=True)
     wall_positions = traitlets.List(default_value=LOCAL_WALLS).tag(sync=True)
-    
+
     _viewport_size = traitlets.Tuple(
         traitlets.Int(), traitlets.Int(), default_value=(800, 600)
     ).tag(sync=True)
@@ -38,8 +38,7 @@ class TopDownDrivingWidget(anywidget.AnyWidget):
                     ui_poll(100)
         except Exception:
             pass
-        
-    
+
     def copy_py_state(self, sim_state: dict):
         self.sim_state = {
             "x": sim_state["x"].tolist(),
@@ -57,4 +56,4 @@ class TopDownDrivingWidget(anywidget.AnyWidget):
     async def reset(self) -> dict:
         sim_state = self.sim_env.reset()
         self.copy_py_state(sim_state)
-        return sim_state
+        return sim_state

tinysim-0.0.4.dist-info/METADATA

@@ -0,0 +1,80 @@
+Metadata-Version: 2.4
+Name: tinysim
+Version: 0.0.4
+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"
+Provides-Extra: mujoco
+Requires-Dist: mujoco; extra == "mujoco"
+
+
+# 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
+```
+
+| [MountainCarEnv](https://github.com/MatthewAndreTaylor/TinySim/blob/main/tinysim/mountain_car) | [TopDownDrivingEnv](https://github.com/MatthewAndreTaylor/TinySim/blob/main/tinysim/topdown_driving) |
+|:-------------------------:|:-------------------------:|
+| <img width="312" alt="mountain_car" src="https://github.com/user-attachments/assets/adbde7f4-6b4e-4c06-8dd3-ea278d5576ad" /> | <img width="312" alt="topdown_driving" src="https://github.com/user-attachments/assets/79dcbf45-055e-4a4e-b6ff-38e938e99a4e" /> |
+
+| [FroggerEnv](https://github.com/MatthewAndreTaylor/TinySim/blob/main/tinysim/frogger) | [FlappyEnv](https://github.com/MatthewAndreTaylor/TinySim/blob/main/tinysim/flappy) |
+|:-------------------------:|:-------------------------:|
+| <img width="312" alt="frogger" src="https://github.com/user-attachments/assets/bb9a8382-b9a0-4280-ae23-cbd02e2d78f6" /> | <img width="312" alt="flappy" src="https://github.com/user-attachments/assets/b5e2a502-d9fe-4ff1-9e4e-a47f7e50ebd9" /> |
+
+
+To use the [warp](https://github.com/NVIDIA/warp) simulation environments.
+
+```bash
+pip install tinysim[warp]
+```
+
+| [CartPoleBaseEnv](https://github.com/MatthewAndreTaylor/TinySim/tree/main/tinysim_warp/cart_pole) | [SimpleRobotDogBaseEnv](https://github.com/MatthewAndreTaylor/TinySim/tree/main/tinysim_warp/simple_quadruped) |
+|:-------------------------:|:-------------------------:|
+| <img width="312" alt="warp_cart_pole" src="https://github.com/user-attachments/assets/f29f3749-d836-4afa-9f27-8578aca020dc" /> | <img width="312" alt="warp_simple_quadruped" src="https://github.com/user-attachments/assets/a966e881-358e-47ee-b0e1-b67eba903987" /> |
+
+
+To use the [mujoco](https://github.com/google-deepmind/mujoco) simulation environments.
+
+```bash
+pip install tinysim[mujoco]
+```
+| [UnitreeA1WalkEnv](https://github.com/MatthewAndreTaylor/TinySim/tree/main/tinysim_mujoco/unitree_a1) |
+|:-------------------------:|
+| <img width="312" alt="mujoco_sim" src="https://github.com/user-attachments/assets/1109488e-0563-4694-8926-682edd0c8278" /> |
+
+

tinysim-0.0.4.dist-info/RECORD

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+tinysim_mujoco/manipulation/xmls/assets/link7_4.obj,sha256=SZSny1BhpxKpgq5AYX1HybmUpZuio6RGMY7TR_w-u90,23568
+tinysim_mujoco/manipulation/xmls/assets/link7_5.obj,sha256=MsT-PFfY9bpGdtVULacqRtZKBSKmZ15Lf6J_tChFlkE,61442
+tinysim_mujoco/manipulation/xmls/assets/link7_6.obj,sha256=1avsmFwLFqymiEQN7-usXrwQcYDJAhoiZBgs1RXnqNw,27403
+tinysim_mujoco/manipulation/xmls/assets/link7_7.obj,sha256=s56R21mHTno3skIqRb9lnEoS5Qw8G6N74E6lulVmdgo,221627
+tinysim_mujoco/unitree_a1/__init__.py,sha256=VH71dmkOeBWBdNVWyYJ5MMfBx-wpPfZ-GuFJY9kbYfA,10632
+tinysim_mujoco/unitree_a1/unitree_a1/CHANGELOG.md,sha256=FIdhX4_Q21xamWMS3-2677HhlETlCnfaAzGemqs4Lpo,143
+tinysim_mujoco/unitree_a1/unitree_a1/LICENSE,sha256=K3lKzx4lD1VFrlpH2B5WhepUiM4HfRCH7Yvl-B6bpcA,1559
+tinysim_mujoco/unitree_a1/unitree_a1/README.md,sha256=tHCjy_A1jcGD7bkFy9Qw9z249Kb6HTDQQBlCk8buqlM,1606
+tinysim_mujoco/unitree_a1/unitree_a1/a1.xml,sha256=gJidzvTdw5WwD0X_qrJWjsLwCYmHNqK19fExTtkws4s,9674
+tinysim_mujoco/unitree_a1/unitree_a1/scene.xml,sha256=nENCyJTVCA_DF4H0itfxQtM69m7wt7z2fvhtw87hBD0,886
+tinysim_mujoco/unitree_a1/unitree_a1/assets/calf.obj,sha256=DRwYdI1-rRZzNBYJpJ5HKlmdVfjFoCdpzLRQYQWtx9I,1591314
+tinysim_mujoco/unitree_a1/unitree_a1/assets/hip.obj,sha256=fVW_Gc8Csumvrb-z-4Ztd-8txDEATHDPt9VGEVlUSjk,586138
+tinysim_mujoco/unitree_a1/unitree_a1/assets/thigh.obj,sha256=CdXaRgx4N_02RSH8R6h5k3jyvbd8df04YM8qlP-En1c,979501
+tinysim_mujoco/unitree_a1/unitree_a1/assets/thigh_mirror.obj,sha256=2LL2hKx8de-Ivj7lM5jkqCEOHTm_AMj78bVyqh99orw,1010010
+tinysim_mujoco/unitree_a1/unitree_a1/assets/trunk.obj,sha256=8DX8cdkBSlOq4ay-KVhXghmTTjqJwR0qqj9O_5DAt3c,2014440
+tinysim_warp/cart_pole/__init__.py,sha256=ltL0cgySOSbeqBvks-UqV1OpT-K-kxo3GylNdvfCB1w,8344
+tinysim_warp/quadruped/__init__.py,sha256=aIOlF9vO9GIYn1y4dth4q-fpUdvB9KZq2rf25YcOcqc,6393
+tinysim_warp/simple_quadruped/__init__.py,sha256=sXL7EOtlB4qm_l4NsYTOFKvpt438voq7OaPgzciPOU0,5329
+tinysim_warp/simple_quadruped/simple_quadruped.urdf,sha256=UfyGROUD5Qlf_t5ISipE2L7uQPBl-hwFnmRsjNL9yH4,8311
+tinysim-0.0.4.dist-info/METADATA,sha256=iCf6ezMgRK8qjZt1Q_Sk0dqEWYyMlgao-XtDni0MqYw,3941
+tinysim-0.0.4.dist-info/WHEEL,sha256=_zCd3N1l69ArxyTb8rzEoP9TpbYXkqRFSNOD5OuxnTs,91
+tinysim-0.0.4.dist-info/top_level.txt,sha256=v-9NmTLfZukVjPwJwEdtCU7yY4TdLsBf1H8s25tR3V4,36
+tinysim-0.0.4.dist-info/RECORD,,

{tinysim-0.0.2.dist-info → tinysim-0.0.4.dist-info}/top_level.txt

@@ -1,2 +1,3 @@
 tinysim
+tinysim_mujoco
 tinysim_warp

tinysim_mujoco/gl_viewer.py

@@ -0,0 +1,88 @@
+import numpy as np
+import mujoco
+import glfw
+
+
+class GLViewer:
+    def __init__(self, model, data, width=1200, height=900):
+        self.width = width
+        self.height = height
+        self.model = model
+        self.data = data
+        self.window = None
+        self.scene = None
+        self.context = None
+        if not glfw.init():
+            raise RuntimeError("Failed to initialize GLFW")
+
+        self._create_window()
+
+    def _create_window(self):
+        glfw.window_hint(glfw.VISIBLE, glfw.TRUE)
+        self.window = glfw.create_window(self.width, self.height, "Viewer", None, None)
+        if not self.window:
+            raise RuntimeError("Failed to create GLFW window")
+
+        glfw.make_context_current(self.window)
+        glfw.swap_interval(1)
+        glfw.set_window_close_callback(self.window, self._on_close)
+
+        self.cam = mujoco.MjvCamera()
+        self.opt = mujoco.MjvOption()
+        self.scene = mujoco.MjvScene(self.model, maxgeom=500)
+        self.context = mujoco.MjrContext(
+            self.model, mujoco.mjtFontScale.mjFONTSCALE_150
+        )
+
+        self.cam.azimuth = 90.0
+        self.cam.elevation = -25.0
+        self.cam.distance = 4.0
+        self.cam.lookat[:] = np.array([0.0, 0.0, 0.0])
+        self.cam.type = mujoco.mjtCamera.mjCAMERA_FREE
+
+    def render(self):
+        if self.window is None:
+            return
+
+        glfw.make_context_current(self.window)
+        width, height = glfw.get_framebuffer_size(self.window)
+        viewport = mujoco.MjrRect(0, 0, width, height)
+        mujoco.mjv_updateScene(
+            self.model,
+            self.data,
+            self.opt,
+            None,
+            self.cam,
+            mujoco.mjtCatBit.mjCAT_ALL,
+            self.scene,
+        )
+
+        mujoco.mjr_render(viewport, self.scene, self.context)
+        glfw.swap_buffers(self.window)
+        glfw.poll_events()
+
+    def _on_close(self, window):
+        self.close()
+
+    def close(self):
+        if self.window is not None:
+            glfw.destroy_window(self.window)
+            self.window = None
+            self.scene = None
+            self.context.free()
+
+    def capture_frame(self):
+        """Capture the current framebuffer and return as an image array (H, W, 3)."""
+        if self.window is None:
+            return None
+
+        glfw.make_context_current(self.window)
+        width, height = glfw.get_framebuffer_size(self.window)
+        viewport = mujoco.MjrRect(0, 0, width, height)
+
+        rgb_buffer = np.zeros((height, width, 3), dtype=np.uint8)
+        mujoco.mjr_readPixels(rgb_buffer, None, viewport, self.context)
+
+        # OpenGL framebuffer origin is bottom-left, flip vertically
+        rgb_buffer = np.flip(rgb_buffer, axis=0)
+        return rgb_buffer

tinysim_mujoco/manipulation/__init__.py

@@ -0,0 +1,38 @@
+import pathlib
+
+import numpy as np
+
+try:
+    import mujoco
+    from ..gl_viewer import GLViewer
+    from ..notebook_viewer import NotebookViewer
+except ImportError:
+    raise ImportError(
+        "Mujoco is not properly installed. Install using `pip install tinysim[mujoco]`"
+    )
+
+
+class ManipulationBaseEnv:
+
+    def __init__(self, headless=False, **kwargs):
+        model_path = str(pathlib.Path(__file__).parent / "xmls/scene.xml")
+        self.model = mujoco.MjModel.from_xml_path(model_path)
+        self.data = mujoco.MjData(self.model)
+        mujoco.mj_forward(self.model, self.data)
+
+        if not headless:
+            if kwargs.get("notebook", False):
+                self.viewer = NotebookViewer(self.model, self.data)
+            else:
+                self.viewer = GLViewer(self.model, self.data)
+        else:
+            self.viewer = None
+
+    def step(self, action=None, n_frames=20):
+        self.render()
+        mujoco.mj_step(self.model, self.data, nstep=n_frames)
+        mujoco.mj_rnePostConstraint(self.model, self.data)
+
+    def render(self):
+        if self.viewer:
+            self.viewer.render()