Metadata-Version: 2.4
Name: rlinf-robotwin-runtime
Version: 0.1.1
Summary: RoboTwin 2.0 environment runtime for RLinf and RPent
Author: RLinf Contributors
Maintainer: RLinf Team
License: MIT License
        
        Copyright (c) 2025 Tianxing Chen (陈天行)
        
        Permission is hereby granted, free of charge, to any person obtaining a copy
        of this software and associated documentation files (the "Software"), to deal
        in the Software without restriction, including without limitation the rights
        to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
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        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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        SOFTWARE.
Project-URL: Homepage, https://github.com/RLinf/RoboTwin
Project-URL: Repository, https://github.com/RLinf/RoboTwin
Project-URL: Upstream, https://github.com/RoboTwin-Platform/RoboTwin
Project-URL: RPent, https://github.com/RLinf/RPent
Project-URL: Issues, https://github.com/RLinf/RoboTwin/issues
Classifier: Development Status :: 2 - Pre-Alpha
Classifier: Environment :: GPU :: NVIDIA CUDA :: 12
Classifier: License :: OSI Approved :: MIT License
Classifier: Operating System :: POSIX :: Linux
Classifier: Programming Language :: Python :: 3.10
Classifier: Programming Language :: Python :: 3.11
Requires-Python: <3.12,>=3.10
Description-Content-Type: text/markdown
License-File: LICENSE
Requires-Dist: gymnasium==0.29.1
Requires-Dist: huggingface-hub>=0.27.1
Requires-Dist: imageio<3,>=2.36.1
Requires-Dist: matplotlib
Requires-Dist: mplib==0.2.1; platform_system == "Linux" and platform_machine == "x86_64"
Requires-Dist: numpy==1.26.4
Requires-Dist: opencv-python<5,>=4.10.0.84
Requires-Dist: open3d==0.18.0; platform_system == "Linux" and platform_machine == "x86_64"
Requires-Dist: pillow>=10
Requires-Dist: pyyaml
Requires-Dist: sapien==3.0.0b1; platform_system == "Linux" and platform_machine == "x86_64"
Requires-Dist: scipy<2,>=1.15.3
Requires-Dist: setuptools<75.9,>=69.5.1
Requires-Dist: torch==2.7.1
Requires-Dist: toppra==0.6.3
Requires-Dist: transforms3d==0.4.2
Requires-Dist: trimesh==4.4.3
Requires-Dist: warp-lang==1.11.1; platform_system == "Linux" and platform_machine == "x86_64"
Requires-Dist: yourdfpy>=0.0.53
Dynamic: license-file

# RoboTwin 2.0 Runtime for RLinf / RPent

[RoboTwin 2.0](https://github.com/RoboTwin-Platform/RoboTwin) is a
robot-manipulation simulation benchmark covering a wide range of single-arm
and dual-arm tasks.

`rlinf-robotwin-runtime` is the RLinf-maintained RoboTwin environment
distribution used by [RPent](https://github.com/RLinf/RPent).

This package focuses on the **simulation/runtime environment** required by
RPent. It is not intended to replace RoboTwin's full upstream development or
training setup.

## Installation

### Standalone runtime

```bash
pip install rlinf-robotwin-runtime==0.1.1
```

The PyPI wheel contains the RoboTwin runtime code and the small task/config
files required at runtime, but does not bundle the large simulation assets.

Download the required assets after installation:

```bash
robotwin-download-assets
```

### RPent

For RPent users, install RoboTwin through RPent's `robotwin` extra rather than
assembling the environment and VLA dependencies manually:

```bash
uv pip install -e ".[robotwin]"
```

The RPent RoboTwin stack consists of:

```text
RPent
├── rlinf-robotwin-runtime
├── rlinf-lingbotvla
└── NVIDIA cuRobo
```

## Package Contents

The wheel contains the runtime-facing RoboTwin Python package, including:

* RoboTwin environment and robot runtime code
* task configuration YAML files
* task instruction / object description metadata
* the `robotwin-download-assets` CLI

Repository-level development utilities such as tests and helper scripts are
not part of the runtime wheel.

Large simulator assets are also distributed separately.

## Runtime Contract

The `0.1.x` runtime is validated with:

| Component | Version        |
| --------- | -------------- |
| Python    | `>=3.10,<3.12` |
| PyTorch   | `2.7.1`        |
| SAPIEN    | `3.0.0b1`      |
| mplib     | `0.2.1`        |
| Gymnasium | `0.29.1`       |
| NumPy     | `1.26.4`       |

The package intentionally uses a relatively strict dependency contract because
these versions have been validated together for the RPent RoboTwin runtime.

## cuRobo

cuRobo is intentionally **not declared as a dependency of this PyPI package**.

RoboTwin treats cuRobo as an optional planner dependency. RPent owns the source
dependency for the complete integration and currently pins the official NVIDIA
release:

```text
NVlabs/curobo@v0.7.8
```

This keeps the public RoboTwin wheel free of direct Git dependencies while
keeping the full RPent installation reproducible.

## RLinf Compatibility

The RLinf-maintained source branch contains the environment/runtime integration
used by RPent:

* Source: [https://github.com/RLinf/RoboTwin](https://github.com/RLinf/RoboTwin)
* Upstream RoboTwin: [https://github.com/RoboTwin-Platform/RoboTwin](https://github.com/RoboTwin-Platform/RoboTwin)
* RPent: [https://github.com/RLinf/RPent](https://github.com/RLinf/RPent)

For the current list of tasks with RLinf-compatible reward support, see the
README in the RLinf RoboTwin repository.

## License

RoboTwin runtime code is distributed under the MIT License.

Please refer to the upstream RoboTwin project for additional dataset, asset,
and third-party licensing information.
