Metadata-Version: 2.4
Name: rlinf-robotwin-runtime
Version: 0.1.0
Summary: Installable RoboTwin runtime and dependency contract maintained for RLinf
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
        copies of the Software, and to permit persons to whom the Software is
        furnished to do so, subject to the following conditions:
        
        The above copyright notice and this permission notice shall be included in all
        copies or substantial portions of the Software.
        
        THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
        IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
        FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
        AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
        LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
        OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
        SOFTWARE.
Project-URL: Homepage, https://github.com/RLinf/RoboTwin
Project-URL: Repository, https://github.com/RLinf/RoboTwin
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 — RLinf Support Status

<b>Contributed by RLinf team</b>

[RoboTwin 2.0](https://github.com/RoboTwin-Platform/RoboTwin.git) now includes **initial RLinf integration**, enabling reinforcement learning training across a wide range of robot manipulation tasks.  

At this stage, **RLinf-style reward functions have been implemented for a subset of RoboTwin tasks**.  
Support for the remaining tasks is actively under development.

---

## ✅ Currently Supported Tasks (with RLinf Rewards)

The following tasks are **fully supported with RLinf-compatible reward functions** and can be directly used for reinforcement learning training:

### Manipulation & Placement
- `adjust_bottle`
- `place_a2b_left`
- `place_a2b_right`
- `place_bread_basket`
- `place_bread_skillet`
- `place_burger_fries`
- `place_can_basket`
- `place_cans_plasticbox`
- `place_container_plate`
- `place_dual_shoes`
- `place_empty_cup`
- `place_fan`
- `place_mouse_pad`
- `place_object_basket`
- `place_object_stand`
- `place_phone_stand`
- `place_shoe`

### Pick, Move & Transport
- `pick_diverse_bottles`
- `pick_dual_bottles`
- `move_can_pot`
- `move_pillbottle_pad`
- `move_playingcard_away`
- `move_stapler_pad`
- `grab_roller`
- `lift_pot`
- `put_bottles_dustbin`

### Stacking & Ranking
- `stack_blocks_two`
- `stack_blocks_three`
- `stack_bowls_two`
- `stack_bowls_three`
- `blocks_ranking_rgb`
- `blocks_ranking_size`

### Tool Use & Interaction
- `beat_block_hammer`
- `press_stapler`
- `stamp_seal`
- `turn_switch`
- `click_bell`
- `click_alarmclock`
- `open_microwave`

### Handover & Human-Object Interaction
- `handover_block`
- `handover_mic`

### Pouring, Dumping & Shaking
- `shake_bottle`
- `shake_bottle_horizontally`
- `dump_bin_bigbin`

### Hanging & Special Tasks
- `hanging_mug`
- `scan_object`
- `rotate_qrcode`

---
## ❌ Currently Unsupported Tasks (RLinf Rewards Not Yet Available)
- `open_laptop`
- `place_object_scale`
- `put_object_cabinet`

---
## 🚧 Work in Progress

We are continuously extending RLinf reward support to **all RoboTwin 2.0 tasks**, including more complex long-horizon manipulation and multi-object interaction scenarios.

New task support and reward refinements will be released incrementally.

---

## 📢 Contributions & Feedback

Community feedback and contributions are highly welcome.  
If you encounter issues, missing reward definitions, or would like to contribute improvements, please feel free to submit:

- GitHub issues  
- Pull requests  
- Feature requests  

---

## 📅 Latest Update

**RoboTwin 2.0 RLinf compatibility confirmed** —  
All tasks listed above are currently supported with RLinf-style rewards.

---

Thank you for using **RoboTwin 2.0** with **RLinf**!
