tinysim 0.0.2__tar.gz → 0.0.4__tar.gz

tinysim-0.0.4/PKG-INFO

@@ -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/README.md

@@ -0,0 +1,52 @@
+
+# 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-0.0.2 → tinysim-0.0.4}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "tinysim"
-version = "0.0.2"
+version = "0.0.4"
 description = "small modular simulation environments"
 authors = [
     {name = "Matthew Taylor", email = "matthew.taylor.andre@gmail.com"},
@@ -30,6 +30,7 @@ dependencies = [
 
 [project.optional-dependencies]
 warp = ["warp-lang==1.8.1"]
+mujoco = ["mujoco"]
 
 [project.readme]
 file = "README.md"
@@ -40,11 +41,16 @@ requires = ["setuptools>=61.0", "wheel"]
 build-backend = "setuptools.build_meta"
 
 [tool.setuptools]
-packages = ["tinysim", "tinysim_warp"]
+packages = ["tinysim", "tinysim_warp", "tinysim_mujoco"]
 include-package-data = true
 
+# TODO: move assets to separate package - example: tinysim-{ext}-assets
 [tool.setuptools.package-data]
 tinysim = ["**/*"]
 tinysim_warp = ["**/*"]
+tinysim_mujoco = ["**/*"]
 
-
+[tool.setuptools.exclude-package-data]
+tinysim = ["**/*.png"]
+tinysim_warp = ["**/*.png"]
+tinysim_mujoco = ["**/*.png"]

{tinysim-0.0.2 → tinysim-0.0.4}/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-0.0.2 → tinysim-0.0.4}/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/tinysim.egg-info/PKG-INFO

@@ -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/tinysim.egg-info/SOURCES.txt

@@ -0,0 +1,122 @@
+README.md
+pyproject.toml
+tinysim/__init__.py
+tinysim/_tk_base.py
+tinysim.egg-info/PKG-INFO
+tinysim.egg-info/SOURCES.txt
+tinysim.egg-info/dependency_links.txt
+tinysim.egg-info/requires.txt
+tinysim.egg-info/top_level.txt
+tinysim/flappy/__init__.py
+tinysim/flappy/sim.js
+tinysim/flappy/tk.py
+tinysim/flappy/widget.py
+tinysim/frogger/__init__.py
+tinysim/frogger/sim.js
+tinysim/frogger/tk.py
+tinysim/frogger/widget.py
+tinysim/mountain_car/__init__.py
+tinysim/mountain_car/sim.js
+tinysim/mountain_car/styles.css
+tinysim/mountain_car/tk.py
+tinysim/mountain_car/widget.py
+tinysim/simple_amr/__init__.py
+tinysim/simple_amr/example_maps.py
+tinysim/simple_amr/sim.js
+tinysim/simple_amr/styles.css
+tinysim/simple_amr/widget.py
+tinysim/topdown_driving/__init__.py
+tinysim/topdown_driving/sim.js
+tinysim/topdown_driving/tk.py
+tinysim/topdown_driving/track_0.json
+tinysim/topdown_driving/widget.py
+tinysim_mujoco/__init__.py
+tinysim_mujoco/gl_viewer.py
+tinysim_mujoco/notebook_viewer.py
+tinysim_mujoco/manipulation/__init__.py
+tinysim_mujoco/manipulation/xmls/panda.xml
+tinysim_mujoco/manipulation/xmls/scene.xml
+tinysim_mujoco/manipulation/xmls/table.xml
+tinysim_mujoco/manipulation/xmls/assets/d405.stl
+tinysim_mujoco/manipulation/xmls/assets/finger_0.obj
+tinysim_mujoco/manipulation/xmls/assets/finger_1.obj
+tinysim_mujoco/manipulation/xmls/assets/hand.stl
+tinysim_mujoco/manipulation/xmls/assets/hand_0.obj
+tinysim_mujoco/manipulation/xmls/assets/hand_1.obj
+tinysim_mujoco/manipulation/xmls/assets/hand_2.obj
+tinysim_mujoco/manipulation/xmls/assets/hand_3.obj
+tinysim_mujoco/manipulation/xmls/assets/hand_4.obj
+tinysim_mujoco/manipulation/xmls/assets/link0.stl
+tinysim_mujoco/manipulation/xmls/assets/link0_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_10.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_11.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_3.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_4.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_5.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_7.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_8.obj
+tinysim_mujoco/manipulation/xmls/assets/link0_9.obj
+tinysim_mujoco/manipulation/xmls/assets/link1.obj
+tinysim_mujoco/manipulation/xmls/assets/link1.stl
+tinysim_mujoco/manipulation/xmls/assets/link2.obj
+tinysim_mujoco/manipulation/xmls/assets/link2.stl
+tinysim_mujoco/manipulation/xmls/assets/link3.stl
+tinysim_mujoco/manipulation/xmls/assets/link3_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link3_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link3_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link3_3.obj
+tinysim_mujoco/manipulation/xmls/assets/link4.stl
+tinysim_mujoco/manipulation/xmls/assets/link4_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link4_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link4_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link4_3.obj
+tinysim_mujoco/manipulation/xmls/assets/link5_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link5_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link5_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link5_collision_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link5_collision_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link5_collision_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link6.stl
+tinysim_mujoco/manipulation/xmls/assets/link6_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_10.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_11.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_12.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_13.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_14.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_15.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_16.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_3.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_4.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_5.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_6.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_7.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_8.obj
+tinysim_mujoco/manipulation/xmls/assets/link6_9.obj
+tinysim_mujoco/manipulation/xmls/assets/link7.stl
+tinysim_mujoco/manipulation/xmls/assets/link7_0.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_1.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_2.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_3.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_4.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_5.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_6.obj
+tinysim_mujoco/manipulation/xmls/assets/link7_7.obj
+tinysim_mujoco/unitree_a1/__init__.py
+tinysim_mujoco/unitree_a1/unitree_a1/CHANGELOG.md
+tinysim_mujoco/unitree_a1/unitree_a1/LICENSE
+tinysim_mujoco/unitree_a1/unitree_a1/README.md
+tinysim_mujoco/unitree_a1/unitree_a1/a1.xml
+tinysim_mujoco/unitree_a1/unitree_a1/scene.xml
+tinysim_mujoco/unitree_a1/unitree_a1/assets/calf.obj
+tinysim_mujoco/unitree_a1/unitree_a1/assets/hip.obj
+tinysim_mujoco/unitree_a1/unitree_a1/assets/thigh.obj
+tinysim_mujoco/unitree_a1/unitree_a1/assets/thigh_mirror.obj
+tinysim_mujoco/unitree_a1/unitree_a1/assets/trunk.obj
+tinysim_warp/cart_pole/__init__.py
+tinysim_warp/quadruped/__init__.py
+tinysim_warp/simple_quadruped/__init__.py
+tinysim_warp/simple_quadruped/simple_quadruped.urdf

{tinysim-0.0.2 → tinysim-0.0.4}/tinysim.egg-info/requires.txt

@@ -2,5 +2,8 @@ numpy
 anywidget
 jupyter-ui-poll
 
+[mujoco]
+mujoco
+
 [warp]
 warp-lang==1.8.1

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

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

tinysim-0.0.4/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-0.0.4/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()