From 7e1fdab9d70424fbd662ea4417f30de161eb2ce8 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]"
<41898282+github-actions[bot]@users.noreply.github.com>
Date: Sat, 31 Oct 2026 20:24:59 +0000
Subject: [PATCH] Add the Sharpa cube example and stop tracking uv.lock
## Summary
- New SimMPC example `09_sharpa_cube.py`: a Sharpa hand turns a cube about three axes. Later `sim_mpc` examples are renumbered.
- Stop tracking `uv.lock`, which clears the lockfile's Dependabot alerts while Python 3.8 stays supported; skip embreex 4.4.0.post1, which ships no 3.8 wheel.
- Tests use only local fixtures: the opt-in real-asset tests are removed, and doc examples that download assets are skipped by xdoctest.
- Fix the stale `self_collision` example in the hand retargeting guide.
## Test plan
- CI on this PR, Python 3.8 and 3.14.
---
.github/workflows/build.yml | 7 +-
.gitignore | 1 +
Makefile | 4 +-
README.md | 4 +-
docs/dev.md | 7 +-
docs/guide/assets.md | 4 +-
docs/guide/full_body_retargeting.md | 8 +-
docs/guide/hand_retargeting.md | 11 +-
docs/guide/humanoid_retargeting.md | 12 +-
docs/guide/ik.md | 2 +-
docs/guide/motion_planning.md | 10 +-
docs/guide/quickstart.md | 2 +-
pyproject.toml | 4 +-
.../examples/sim_mpc/09_sharpa_cube.py | 164 +
.../sim_mpc/{09_h1_jog.py => 10_h1_jog.py} | 0
.../{10_go2_jump.py => 11_go2_jump.py} | 0
.../{11_fr3_push.py => 12_fr3_push.py} | 0
.../{12_fr3_balance.py => 13_fr3_balance.py} | 0
.../sim_mpc/{13_batch.py => 14_batch.py} | 0
.../{14_demo_repair.py => 15_demo_repair.py} | 0
.../helpers/hand_retargeting/offline.py | 2 +-
tests/assets/test_assets.py | 57 -
tests/gallery/test_hand_retargeting_assets.py | 278 -
.../test_full_body_retargeting.py | 208 +-
tests/helpers/grasp/test_grasp.py | 242 -
.../hand_retargeting/test_offline_assets.py | 93 -
.../test_batched_retargeting.py | 26 -
tests/utils/test_assembly_utils.py | 61 -
uv.lock | 13079 ----------------
29 files changed, 204 insertions(+), 14082 deletions(-)
create mode 100644 src/robokit/examples/sim_mpc/09_sharpa_cube.py
rename src/robokit/examples/sim_mpc/{09_h1_jog.py => 10_h1_jog.py} (100%)
rename src/robokit/examples/sim_mpc/{10_go2_jump.py => 11_go2_jump.py} (100%)
rename src/robokit/examples/sim_mpc/{11_fr3_push.py => 12_fr3_push.py} (100%)
rename src/robokit/examples/sim_mpc/{12_fr3_balance.py => 13_fr3_balance.py} (100%)
rename src/robokit/examples/sim_mpc/{13_batch.py => 14_batch.py} (100%)
rename src/robokit/examples/sim_mpc/{14_demo_repair.py => 15_demo_repair.py} (100%)
delete mode 100644 tests/gallery/test_hand_retargeting_assets.py
delete mode 100644 tests/helpers/hand_retargeting/test_offline_assets.py
delete mode 100644 uv.lock
diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
index 7b234da..4309ed2 100644
--- a/.github/workflows/build.yml
+++ b/.github/workflows/build.yml
@@ -28,7 +28,7 @@ jobs:
with:
args: format --diff
- # Type-check once, on Python 3.8 at the locked versions; newer Warp and NumPy stubs reject valid kernel code.
+ # Type-check once, on Python 3.8; newer Warp and NumPy stubs reject valid kernel code.
typecheck:
runs-on: ubuntu-latest
steps:
@@ -40,7 +40,7 @@ jobs:
- run: uv run --group dev --extra pt-cpu pyright
# Test matrices:
- # - PR/main: Python 3.8 at the oldest allowed versions and 3.14 at the locked newest, without coverage; PRs skip slow tests.
+ # - PR/main: Python 3.8 at the oldest allowed versions and 3.14 at the newest, without coverage; PRs skip slow tests.
# - Weekly/manual: every Python at the newest releases, plus the oldest and torch-free rows, coverage, and slow tests.
test:
runs-on: ubuntu-latest
@@ -59,9 +59,6 @@ jobs:
with:
python-version: ${{ matrix.python }}
enable-cache: true
- - name: Upgrade to the newest releases
- if: github.event_name == 'schedule' || github.event_name == 'workflow_dispatch'
- run: uv lock --upgrade
- name: Restore warp kernel cache
id: warp
uses: actions/cache/restore@v4
diff --git a/.gitignore b/.gitignore
index 03fc806..1ccd263 100644
--- a/.gitignore
+++ b/.gitignore
@@ -180,3 +180,4 @@ best_model_stats/
outputs
out
scripts/benchmark/motion_plan/.results.lock
+uv.lock
diff --git a/Makefile b/Makefile
index 690eba8..d68d6b9 100644
--- a/Makefile
+++ b/Makefile
@@ -21,9 +21,9 @@ test-all:
uv run --extra $(PT) --extra mj --extra mjwarp pytest -n 8 -m "not slow" .
uv run --extra $(PT) xdoctest robokit
-# The oldest allowed versions, as PR CI runs them; resolving them rewrites uv.lock, so restore it afterwards.
+# The oldest allowed versions, as PR CI runs them.
test-oldest:
- cp uv.lock uv.lock.bak; UV_PROJECT_ENVIRONMENT=.venv-oldest UV_RESOLUTION=lowest-direct uv run --python 3.8 --extra pt-cpu --extra mj --extra mjwarp pytest .; rc=$$?; mv uv.lock.bak uv.lock; exit $$rc
+ UV_PROJECT_ENVIRONMENT=.venv-oldest UV_RESOLUTION=lowest-direct uv run --python 3.8 --extra pt-cpu --extra mj --extra mjwarp pytest .
install:
uv sync --extra $(PT)
diff --git a/README.md b/README.md
index 4b03860..e90e791 100644
--- a/README.md
+++ b/README.md
@@ -54,8 +54,8 @@ Check the paper for benchmark details.
Climbing A G1 climbs a box on hands and knees.
- 
- Jumping A Go2 lands four 40 cm jumps on target footholds.
+ 
+ Jumping A Go2 lands four 40 cm jumps on target footholds.
|
diff --git a/docs/dev.md b/docs/dev.md
index 3623724..f2b929f 100644
--- a/docs/dev.md
+++ b/docs/dev.md
@@ -117,8 +117,8 @@ assert total == 6
The website's **Full** button reveals the complete code; **Copy** always copies it.
`scripts/test_docs.py` executes that code with xdoctest and reports passed, skipped, and failed blocks.
-Optional examples use hidden `# xdoctest: +REQUIRES(...)` directives: `ROBOKIT_ASSET_TESTS=1`
-for cached assets, `ROBOKIT_BODY_MODELS` for local body models, `ROBOKIT_CUDA_DOCS=1`
+Examples that download assets use a hidden `# xdoctest: +SKIP`. Optional examples use hidden
+`# xdoctest: +REQUIRES(...)` directives: `ROBOKIT_BODY_MODELS` for local body models, `ROBOKIT_CUDA_DOCS=1`
for CUDA/nvdiffrast, and `ROBOKIT_PARAHOME_DOCS=1` for prepared ParaHome data.
Skipped blocks are still checked for valid Python syntax.
To check the website's copied code after importing and building it, run
@@ -161,8 +161,7 @@ torch.testing.assert_close(quaternion_multiply(q, q), torch.tensor([0.7071068, 0
### Pytest
-Tests use local fixtures; Hugging Face calls are blocked before collection. Opt-in integration tests
-(`ROBOKIT_ASSET_TESTS=1`) require locally prepared assets and cannot download missing files.
+Tests use local fixtures; Hugging Face calls are blocked before collection.
To test original MANO PKL conversion and CPU engine parity using [locally supplied models](guide/assets.md#user-provided-body-models):
diff --git a/docs/guide/assets.md b/docs/guide/assets.md
index b825de1..a6eed9f 100644
--- a/docs/guide/assets.md
+++ b/docs/guide/assets.md
@@ -12,7 +12,7 @@ cached automatically. Use `fetch()` for paths without static symbols:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
# docs: endhide
from robokit.assets import fetch
from robokit.assets.robots.humanoids import unitree_g1
@@ -36,7 +36,7 @@ match the symbol to the `SelfCollisionTask` representation you use (`sphere` is
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
from robokit.robo import Robot
from robokit.assets.robots.end_effectors import xhand
diff --git a/docs/guide/full_body_retargeting.md b/docs/guide/full_body_retargeting.md
index dc5f547..0c70c4a 100644
--- a/docs/guide/full_body_retargeting.md
+++ b/docs/guide/full_body_retargeting.md
@@ -85,7 +85,7 @@ packs one row per frame:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import trimesh
import warp as wp
@@ -140,7 +140,7 @@ markers a viewer needs:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import trimesh
import warp as wp
@@ -197,7 +197,7 @@ survives. It needs `clip.scene`, and its link names assume G1 + Inspire.
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import trimesh
import warp as wp
@@ -255,7 +255,7 @@ behavior. Derive a variant with `dataclasses.replace(...)` rather than mutating
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import warp as wp
from robokit.helpers.full_body_retargeting import FullBodyRetargeter
diff --git a/docs/guide/hand_retargeting.md b/docs/guide/hand_retargeting.md
index 8f2daf9..011a70c 100644
--- a/docs/guide/hand_retargeting.md
+++ b/docs/guide/hand_retargeting.md
@@ -64,8 +64,7 @@ from copy import deepcopy
config = deepcopy(shadow.online)
config.task("smoothness").weight = 0.1
-config.task("self_collision").weight = 10.0
-config.task("self_collision").margin = 0.005
+config.task("rest").weight = 0.01
```
The offline retargeter builds every template in `config.terms` the same way, from
@@ -82,7 +81,7 @@ cost; later frames are smoothed against the preceding solution. An explicit
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.assets.robots.end_effectors import shadow_hand
@@ -134,7 +133,7 @@ that same world frame:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.assets.robots.end_effectors import shadow_hand
@@ -184,7 +183,7 @@ Wrist presets use `HandRetargeterOnlineConfig`. Tune tracking with `position_wei
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.assets.robots.end_effectors import shadow_hand
@@ -236,7 +235,7 @@ Contact solves add one contact point and mask per `spec.contact_target_names` en
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.assets.robots.end_effectors import shadow_hand
diff --git a/docs/guide/humanoid_retargeting.md b/docs/guide/humanoid_retargeting.md
index 6f37553..9482f8c 100644
--- a/docs/guide/humanoid_retargeting.md
+++ b/docs/guide/humanoid_retargeting.md
@@ -62,7 +62,7 @@ and BHL robots.
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
# docs: endhide
from robokit.helpers.humanoid_retargeting.presets.g1_aligned import g1_aligned # G1, aligned SMPL-X
from robokit.helpers.humanoid_retargeting.presets.g1_smplh import g1_smplh # G1, SMPL-H interaction
@@ -86,7 +86,7 @@ loop:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.helpers.humanoid_retargeting import HumanoidRetargeterOnline
@@ -140,7 +140,7 @@ The caller owns the `WarpScene`; tasks in `config.terms` enable collision costs:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.helpers.humanoid_retargeting import HumanoidRetargeterOnline
@@ -185,7 +185,7 @@ scene whose single mesh is the object, and `batch_size=1`. Set the first target
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import trimesh
import warp as wp
@@ -236,7 +236,7 @@ templates read `HumanoidContext` inputs such as `TARGET_LINKS` and `TARGETS`; th
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.helpers.humanoid_retargeting import HumanoidRetargeterOnline
@@ -281,7 +281,7 @@ lengths:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.helpers.humanoid_retargeting import HumanoidRetargeterOnline
diff --git a/docs/guide/ik.md b/docs/guide/ik.md
index f9429de..9485b65 100644
--- a/docs/guide/ik.md
+++ b/docs/guide/ik.md
@@ -296,7 +296,7 @@ Load the robot with collision spheres, then add scene and self-collision terms:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.helpers.ik import IKContext, IKSolver, IKSolverConfig, presets
diff --git a/docs/guide/motion_planning.md b/docs/guide/motion_planning.md
index b0e1e13..7711d1a 100644
--- a/docs/guide/motion_planning.md
+++ b/docs/guide/motion_planning.md
@@ -51,7 +51,7 @@ Plan from a start configuration to a hand pose past a box, then sample the plan
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
# docs: endhide
import numpy as np
import warp as wp
@@ -104,7 +104,7 @@ A joint goal skips goal IK, so it takes a joint preset:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.assets.robots.arms import franka_panda
@@ -132,7 +132,7 @@ Waypoints between start and goal can be joint arrays or poses:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robokit.assets.robots.arms import franka_panda
@@ -215,7 +215,7 @@ The planning call itself does not change:
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robot_descriptions.loaders.yourdfpy import load_robot_description
@@ -281,7 +281,7 @@ when the pose target changes and passes that joint goal into each planning updat
```python
# docs: hide
-# xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS==1)
+# xdoctest: +SKIP
import numpy as np
import warp as wp
from robot_descriptions.loaders.yourdfpy import load_robot_description
diff --git a/docs/guide/quickstart.md b/docs/guide/quickstart.md
index e4043bc..1d4089a 100644
--- a/docs/guide/quickstart.md
+++ b/docs/guide/quickstart.md
@@ -54,7 +54,7 @@ Paths are relative to [`src/robokit/examples`](../../src/robokit/examples/).
| [`grasp`](../../src/robokit/examples/grasp/) | [`01_basic.py`](../../src/robokit/examples/grasp/01_basic.py), [`02_annealed_gd.py`](../../src/robokit/examples/grasp/02_annealed_gd.py) |
| [`geom`](../../src/robokit/examples/geom/) | [`01_basic.py`](../../src/robokit/examples/geom/01_basic.py), [`02_robot.py`](../../src/robokit/examples/geom/02_robot.py), [`03_heterogeneous_batch.py`](../../src/robokit/examples/geom/03_heterogeneous_batch.py), [`04_lod.py`](../../src/robokit/examples/geom/04_lod.py) |
| [`opt`](../../src/robokit/examples/opt/) | [`01_rosenbrock.py`](../../src/robokit/examples/opt/01_rosenbrock.py), [`02_solvers.py`](../../src/robokit/examples/opt/02_solvers.py), [`03_multi_candidate.py`](../../src/robokit/examples/opt/03_multi_candidate.py), [`04_curve_fit.py`](../../src/robokit/examples/opt/04_curve_fit.py), [`05_mpc_pendulum.py`](../../src/robokit/examples/opt/05_mpc_pendulum.py), [`06_mpc_navigation.py`](../../src/robokit/examples/opt/06_mpc_navigation.py) |
-| [`sim_mpc`](../../src/robokit/examples/sim_mpc/) | [`01_sharpa_oakink.py`](../../src/robokit/examples/sim_mpc/01_sharpa_oakink.py), [`02_xhand_arctic.py`](../../src/robokit/examples/sim_mpc/02_xhand_arctic.py), [`03_xhand_arctic_articulated.py`](../../src/robokit/examples/sim_mpc/03_xhand_arctic_articulated.py), [`04_g1_climb.py`](../../src/robokit/examples/sim_mpc/04_g1_climb.py), [`05_g1_carry.py`](../../src/robokit/examples/sim_mpc/05_g1_carry.py), [`06_g1_amass.py`](../../src/robokit/examples/sim_mpc/06_g1_amass.py), [`07_leap_cube.py`](../../src/robokit/examples/sim_mpc/07_leap_cube.py), [`08_sharpa_pen.py`](../../src/robokit/examples/sim_mpc/08_sharpa_pen.py), [`09_h1_jog.py`](../../src/robokit/examples/sim_mpc/09_h1_jog.py), [`10_go2_jump.py`](../../src/robokit/examples/sim_mpc/10_go2_jump.py), [`11_fr3_push.py`](../../src/robokit/examples/sim_mpc/11_fr3_push.py), [`12_fr3_balance.py`](../../src/robokit/examples/sim_mpc/12_fr3_balance.py), [`13_batch.py`](../../src/robokit/examples/sim_mpc/13_batch.py), [`14_demo_repair.py`](../../src/robokit/examples/sim_mpc/14_demo_repair.py) |
+| [`sim_mpc`](../../src/robokit/examples/sim_mpc/) | [`01_sharpa_oakink.py`](../../src/robokit/examples/sim_mpc/01_sharpa_oakink.py), [`02_xhand_arctic.py`](../../src/robokit/examples/sim_mpc/02_xhand_arctic.py), [`03_xhand_arctic_articulated.py`](../../src/robokit/examples/sim_mpc/03_xhand_arctic_articulated.py), [`04_g1_climb.py`](../../src/robokit/examples/sim_mpc/04_g1_climb.py), [`05_g1_carry.py`](../../src/robokit/examples/sim_mpc/05_g1_carry.py), [`06_g1_amass.py`](../../src/robokit/examples/sim_mpc/06_g1_amass.py), [`07_leap_cube.py`](../../src/robokit/examples/sim_mpc/07_leap_cube.py), [`08_sharpa_pen.py`](../../src/robokit/examples/sim_mpc/08_sharpa_pen.py), [`09_sharpa_cube.py`](../../src/robokit/examples/sim_mpc/09_sharpa_cube.py), [`10_h1_jog.py`](../../src/robokit/examples/sim_mpc/10_h1_jog.py), [`11_go2_jump.py`](../../src/robokit/examples/sim_mpc/11_go2_jump.py), [`12_fr3_push.py`](../../src/robokit/examples/sim_mpc/12_fr3_push.py), [`13_fr3_balance.py`](../../src/robokit/examples/sim_mpc/13_fr3_balance.py), [`14_batch.py`](../../src/robokit/examples/sim_mpc/14_batch.py), [`15_demo_repair.py`](../../src/robokit/examples/sim_mpc/15_demo_repair.py) |
Example usage:
diff --git a/pyproject.toml b/pyproject.toml
index 4f2727a..57343d6 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -155,8 +155,8 @@ url = "https://download.pytorch.org/whl/cpu"
explicit = true
[tool.uv]
-# Lock-only fixes for bad upstream metadata: torch 2.5 and mujoco 3.4-3.5 claim Python versions they ship no wheels for.
-constraint-dependencies = ["torch!=2.5.*", "mujoco!=3.4.*,!=3.5.*"]
+# uv-only fixes for bad upstream metadata: these claim Python versions they ship no wheels for.
+constraint-dependencies = ["torch!=2.5.*", "mujoco!=3.4.*,!=3.5.*", "embreex!=4.4.0.post1"]
required-environments = ["sys_platform == 'linux' and platform_machine == 'x86_64'"]
conflicts = [[{ extra = "pt-cpu" }, { extra = "pt-cu118" }, { extra = "pt-cu126" }, { extra = "pt-cu128" }]]
diff --git a/src/robokit/examples/sim_mpc/09_sharpa_cube.py b/src/robokit/examples/sim_mpc/09_sharpa_cube.py
new file mode 100644
index 0000000..1a2dd15
--- /dev/null
+++ b/src/robokit/examples/sim_mpc/09_sharpa_cube.py
@@ -0,0 +1,164 @@
+# /// script
+# requires-python = ">=3.10"
+# dependencies = ["robokit[mjwarp]"]
+#
+# [tool.uv.sources]
+# robokit = { path = "../../../..", editable = true }
+# ///
+# pyright: reportMissingImports=false
+# pyright: reportArgumentType=false
+"""SimMPC: a palm-up Sharpa Wave hand tumbles a 5.5 cm cube through 90 deg turns about x, y and z, with no training."""
+
+import time
+
+import mujoco
+import numpy as np
+import viser
+import warp as wp
+
+from robokit.assets.robots.end_effectors import sharpa_hand
+from robokit.helpers.sim_mpc import SimMPC, SimMPCConfig
+from robokit.helpers.sim_mpc.mjwarp import MjWarpSim
+from robokit.terms import ControlTask, SensorTask
+from robokit.utils.visualize_utils import ViserMjcf
+
+
+STEPS = 4000 # 20 s at the 5 ms step
+HALF = 0.0275 # the cube's half width, m
+AXES = dict(x=[1.0, 0, 0], y=[0, 1.0, 0], z=[0, 0, 1.0]) # the goals turn about these in turn
+GRASP = np.array([1.4445, -0.1589, -0.2534, -0.2884, 0.6587, 0.3551, -0.0365, 0.9138, 0.6397, 0.3408, -0.0403, 0.6072,
+ 0.425, 0.3934, -0.0002, 0.7814, 0.547, 0.2346, 0.5312, 0.078, 0.6275, 0.4392]) # cupped round the cube # fmt: skip
+CUBE_POS, CUBE_QUAT = [0.0987, -0.0142, 0.5487], [0.9379, -0.0135, -0.0066, 0.3465]
+FACES = [([1, 0, 0], (220, 40, 40)), ([-1, 0, 0], (245, 140, 30)), ([0, 1, 0], (40, 170, 80)),
+ ([0, -1, 0], (40, 100, 220)), ([0, 0, 1], (245, 245, 245)), ([0, 0, -1], (245, 215, 40))] # fmt: skip
+
+
+def main():
+ wp.config.log_level = wp.LOG_WARNING # no per-module load lines
+ wp.init()
+
+ # --- scene: the hand palm-up 0.5 m high, friction 1, stiff against itself (solmix 0 leaves the cube's contacts to
+ # the cube's defaults); a 50 g cube in the cupped fingers, a coloured plate on each face ---
+ scene = mujoco.MjSpec.from_file(str(sharpa_hand.MJCF_PATH_RIGHT))
+ for mesh in scene.meshes: # absolute mesh paths, so the viewer's copy finds them
+ mesh.file = str(sharpa_hand.MJCF_PATH_RIGHT.parent / scene.meshdir / mesh.file)
+ scene.meshdir, scene.option.timestep = "", 0.005
+ root = scene.body("right_hand_C_MC")
+ root.pos, root.quat = [0, 0, 0.5], [0, np.sqrt(0.5), 0, np.sqrt(0.5)]
+ for geom in scene.geoms:
+ if geom.contype or geom.conaffinity:
+ geom.friction, geom.solmix = [1.0, 0.005, 1e-4], 0.0
+ geom.solref, geom.solimp[:3] = [0.01, 1.0], [0.99, 0.999, 0.001]
+ cube = scene.worldbody.add_body(name="cube", pos=CUBE_POS, quat=CUBE_QUAT)
+ cube.add_freejoint()
+ cube.add_geom(name="cube", type=mujoco.mjtGeom.mjGEOM_BOX, size=[HALF] * 3, mass=0.05,
+ friction=[1.0, 0.005, 1e-4], condim=4, rgba=[0.9, 0.5, 0.1, 1]) # fmt: skip
+ for axis, color in FACES:
+ cube.add_geom(type=mujoco.mjtGeom.mjGEOM_BOX, size=np.where(axis, 5e-4, HALF), pos=(HALF - 5e-4) * np.array(axis),
+ contype=0, conaffinity=0, group=1, density=0, rgba=[*np.array(color) / 255, 1]) # fmt: skip
+ body = mujoco.mjtObj.mjOBJ_XBODY
+ scene.add_sensor(name="pos", type=mujoco.mjtSensor.mjSENS_FRAMEPOS, objtype=body, objname="cube")
+ scene.add_sensor(name="quat", type=mujoco.mjtSensor.mjSENS_FRAMEQUAT, objtype=body, objname="cube")
+ # as in a person's finger, the last joint follows the one before it
+ for finger in ("index", "middle", "ring", "pinky"):
+ scene.delete(scene.actuator(f"right_{finger}_DIP"))
+ scene.add_equality(type=mujoco.mjtEq.mjEQ_JOINT, objtype=mujoco.mjtObj.mjOBJ_JOINT, name1=f"right_{finger}_DIP",
+ name2=f"right_{finger}_PIP", data=[0, 0.7, 0, 0, 0, 0, 0, 0, 0, 0, 0]) # fmt: skip
+ for actuator in scene.actuators: # calmer fingers: twice the servo damping, and a speed sensor for the plan's cost
+ actuator.biasprm[2] *= 2
+ scene.add_sensor(name=actuator.name, type=mujoco.mjtSensor.mjSENS_ACTUATORVEL,
+ objtype=mujoco.mjtObj.mjOBJ_ACTUATOR, objname=actuator.name) # fmt: skip
+ model = scene.compile()
+ state = mujoco.MjData(model)
+ grasp = GRASP[model.actuator_trnid[:, 0]]
+ state.qpos[:22], state.ctrl[:] = GRASP, grasp
+ for _ in range(200): # let the cube settle into the grasp for 1 s
+ mujoco.mj_step(model, state)
+ print(f"scene: {model.nq} qpos, {model.nu} actuators; cube settled at {np.round(state.qpos[22:25], 3)}")
+
+ # --- goals: each one 90 deg about the next axis from the last; the planner reads the current one in place ---
+ def turned(q_wxyz: np.ndarray, index: int) -> np.ndarray:
+ turn, out = np.zeros(4), np.zeros(4)
+ mujoco.mju_axisAngle2Quat(turn, np.array(list(AXES.values())[index % 3]), np.pi / 2)
+ mujoco.mju_mulQuat(out, turn, q_wxyz)
+ return out
+
+ goal, reached = turned(state.qpos[25:29], 0), []
+ a, pos = model.sensor("quat").adr[0], model.sensor("pos").adr[0]
+ ref = np.zeros((1, 1, model.nsensordata), np.float32)
+ ref[0, 0, a : a + 4], ref[0, 0, pos : pos + 3] = goal, state.qpos[22:25]
+ sensor_ref = wp.array(ref, dtype=float)
+
+ # --- SimMPC: hold the cube's centre, turn it to the goal, keep the fingers near the grasp and slow; a 0.9 s plan
+ # with 0.3 s nodes, refined twice; wide noise is what keeps it from stalling ---
+ H = 180
+ ctrl_ref = np.tile(grasp, (STEPS + H + 1, 1))
+ costs = [
+ SensorTask(sensor_ref, dict(quat=5.0), residual="quaternion", freeze_reference=True),
+ SensorTask(sensor_ref, dict(pos=5000.0), freeze_reference=True),
+ SensorTask(sensor_ref, {actuator.name: 0.03 for actuator in scene.actuators}, freeze_reference=True),
+ ControlTask(0.02, ctrl_ref),
+ ]
+ config = SimMPCConfig(
+ num_samples=128, horizon_steps=H, node_steps=60, ctrl_steps=4, max_iterations=2, std_growth=1.0,
+ interpolation="cubic", terminal_scale=1.0, seed=1,
+ ) # fmt: skip
+ sim = MjWarpSim(model, state, nconmax=96, njmax=600)
+ goals = []
+
+ # --- after each control period: a cube within 0.4 rad of its goal gets the next one ---
+ def next_goal(plan: list):
+ nonlocal goal
+ goals.extend([goal] * config.ctrl_steps)
+ q_wxyz = sim.data["execution"].qpos.numpy()[0, 25:29]
+ if 2 * np.arccos(min(abs(q_wxyz @ goal), 1.0)) < 0.4:
+ reached.append(len(goals) * model.opt.timestep)
+ goal = turned(goal, len(reached))
+ ref[0, 0, a : a + 4] = goal
+ sensor_ref.assign(ref)
+
+ print("building SimMPC (the first run compiles kernels) ...")
+ mpc = SimMPC(sim, ctrl_ref, np.full(model.nu, 0.12), costs, config, ctrl_range=model.actuator_ctrlrange)
+ print(f"planning {STEPS * model.opt.timestep:.0f} s of motion ...")
+ start = time.perf_counter()
+ (rollout,), _ = mpc.solve(STEPS, callback=next_goal)
+ planned = time.perf_counter() - start
+
+ # --- score: goals, the slowest 5 s, drop, the deepest finger-finger overlap, and jitter, the joints' RMS
+ # acceleration at 50 Hz: the LEAP cube's is 4.24 rad/s^2 ---
+ slowest = np.histogram(reached, bins=np.arange(0, 20.1, 5))[0].min()
+ dropped = bool(np.any(rollout["qpos"][:, 24] < state.qpos[24] - 0.05))
+ jitter = np.sqrt(np.mean(np.diff(rollout["qpos"][::4, :22], 2, axis=0) ** 2)) / 0.02**2
+ hand_only = scene.copy()
+ hand_only.geom("cube").contype = hand_only.geom("cube").conaffinity = 0
+ check = hand_only.compile()
+ data, overlap = mujoco.MjData(check), 0.0
+ for q in rollout["qpos"]:
+ data.qpos[:] = q
+ mujoco.mj_kinematics(check, data)
+ mujoco.mj_collision(check, data)
+ overlap = max(overlap, -data.contact.dist.min(initial=0.0))
+ ok = len(reached) >= 5 and slowest >= 1 and not dropped and overlap <= 0.002
+ print(f"cube: {'pass' if ok else 'fail'}, {len(reached)} goals in {STEPS * model.opt.timestep:.0f} s, at least "
+ f"{slowest} in every 5 s, finger overlap {1000 * overlap:.1f} mm, jitter {jitter:.2f} rad/s^2, "
+ f"{'dropped' if dropped else 'never dropped'}") # fmt: skip
+ print(f"planned in {planned:.0f} s")
+
+ # --- viewer: replay the simulated motion with the current goal as a ghost cube beside the hand ---
+ server = viser.ViserServer()
+ print("replaying; Ctrl+C to stop")
+ viewer = ViserMjcf(server, scene.to_xml())
+ ghost = server.scene.add_frame("/goal", show_axes=False, position=(0.12, 0.15, 0.6))
+ for i, (axis, color) in enumerate(FACES):
+ dimensions, position = np.where(axis, 1e-3, 2 * HALF), (HALF - 5e-4) * np.array(axis)
+ server.scene.add_box(f"/goal/{i}", color=color, dimensions=dimensions, position=position)
+ while True:
+ for k in range(0, STEPS, 4):
+ viewer.update_qpos(rollout["qpos"][k])
+ ghost.wxyz = goals[k]
+ time.sleep(4 * model.opt.timestep)
+ time.sleep(1.0) # hold the last frame before replaying
+
+
+if __name__ == "__main__":
+ main()
diff --git a/src/robokit/examples/sim_mpc/09_h1_jog.py b/src/robokit/examples/sim_mpc/10_h1_jog.py
similarity index 100%
rename from src/robokit/examples/sim_mpc/09_h1_jog.py
rename to src/robokit/examples/sim_mpc/10_h1_jog.py
diff --git a/src/robokit/examples/sim_mpc/10_go2_jump.py b/src/robokit/examples/sim_mpc/11_go2_jump.py
similarity index 100%
rename from src/robokit/examples/sim_mpc/10_go2_jump.py
rename to src/robokit/examples/sim_mpc/11_go2_jump.py
diff --git a/src/robokit/examples/sim_mpc/11_fr3_push.py b/src/robokit/examples/sim_mpc/12_fr3_push.py
similarity index 100%
rename from src/robokit/examples/sim_mpc/11_fr3_push.py
rename to src/robokit/examples/sim_mpc/12_fr3_push.py
diff --git a/src/robokit/examples/sim_mpc/12_fr3_balance.py b/src/robokit/examples/sim_mpc/13_fr3_balance.py
similarity index 100%
rename from src/robokit/examples/sim_mpc/12_fr3_balance.py
rename to src/robokit/examples/sim_mpc/13_fr3_balance.py
diff --git a/src/robokit/examples/sim_mpc/13_batch.py b/src/robokit/examples/sim_mpc/14_batch.py
similarity index 100%
rename from src/robokit/examples/sim_mpc/13_batch.py
rename to src/robokit/examples/sim_mpc/14_batch.py
diff --git a/src/robokit/examples/sim_mpc/14_demo_repair.py b/src/robokit/examples/sim_mpc/15_demo_repair.py
similarity index 100%
rename from src/robokit/examples/sim_mpc/14_demo_repair.py
rename to src/robokit/examples/sim_mpc/15_demo_repair.py
diff --git a/src/robokit/helpers/hand_retargeting/offline.py b/src/robokit/helpers/hand_retargeting/offline.py
index 3b71166..6cf648c 100644
--- a/src/robokit/helpers/hand_retargeting/offline.py
+++ b/src/robokit/helpers/hand_retargeting/offline.py
@@ -244,7 +244,7 @@ def set_target_scales(self, scales: np.ndarray) -> None:
"""Set one positive pairwise target scale per warmed trajectory without rebuilding the solver.
Example:
- >>> # xdoctest: +REQUIRES(env:ROBOKIT_ASSET_TESTS)
+ >>> # xdoctest: +SKIP
>>> from robokit.helpers.full_body_retargeting import FullBodyRetargeter
>>> from robokit.helpers.hand_retargeting.presets.inspire import offline, spec
>>> solver = HandRetargeterOffline(offline, FullBodyRetargeter().hand_robot("right"), spec)
diff --git a/tests/assets/test_assets.py b/tests/assets/test_assets.py
index 525926d..96d130e 100644
--- a/tests/assets/test_assets.py
+++ b/tests/assets/test_assets.py
@@ -4,17 +4,14 @@
from concurrent.futures import ThreadPoolExecutor
from pathlib import Path
from unittest.mock import Mock
-from xml.etree import ElementTree
import pytest
-import yaml
from robokit import assets
from robokit.assets import HF_REPO_DIR, checkout, fetch
_G1_SPHERES = "robots/collision_spheres/g1/collision_spheres.yaml"
-_RUNNABLE = os.environ.get("ROBOKIT_ASSET_TESTS") == "1"
class TestNoHubAccess:
@@ -109,57 +106,3 @@ def test_partial_snapshot_is_not_marked_complete(self, tmp_path: Path, monkeypat
(snapshot / "data" / "b.txt").write_text("b")
root = fetch(["data/**"], revision="feed", home=tmp_path)
assert (root / "data" / "a.txt").is_file() and (root / "data" / "b.txt").is_file()
-
-
-@pytest.mark.skipif(not _RUNNABLE, reason="set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked")
-class TestFetch:
- def test_fetch_returns_snapshot_with_requested_file(self):
- snapshot = fetch([_G1_SPHERES.rsplit("/", 1)[0] + "/**"])
- assert (snapshot / _G1_SPHERES).is_file()
-
- def test_asset_module_paths_resolve(self):
- # Importing an asset module downloads it (download-on-import) and exposes resolved paths.
- from robokit.assets.robots.humanoids import unitree_g1
-
- assert unitree_g1.URDF_PATH.is_file()
- assert unitree_g1.COLLISION_SPHERE_PATH.is_file()
-
- def test_mujoco_models_and_composed_assembly_resolve(self):
- from robokit.assets.robots.assembly import agilex_aloha, arx_x5, composed, franka_panda_allegro
-
- for module in (arx_x5, agilex_aloha):
- for path in (module.MJCF_PATH, module.MJ_COLLISION_SPHERE_PATH, module.MJ_CONTACT_POINTS_PATH):
- assert path.is_file()
- assert franka_panda_allegro.MJCF_PATH_RIGHT.is_file()
- urdf, spheres, root = composed.assemble("yam", "yam_gripper")
- assert urdf.is_file() and spheres is not None and spheres.is_file()
- assert f"{composed.EE_PREFIX}{root}" in urdf.read_text()
-
- def test_new_assembly_modules_resolve(self):
- # Newly added assembly / end-effector modules download-on-import and resolve.
- from robokit.assets.robots.arms import xarm6
- from robokit.assets.robots.assembly import g1_mano, xarm6_sharpa, xarm7_inspire, xarm7_sharpa
- from robokit.assets.robots.end_effectors import mano_hand
-
- assert g1_mano.URDF_PATH.is_file()
- assert mano_hand.URDF_PATH_RIGHT.is_file()
- assert mano_hand.COLLISION_SPHERE_PATH_RIGHT.is_file()
- assert xarm6.URDF_PATH.is_file()
- assert xarm6.COLLISION_SPHERE_PATH.is_file()
- assert xarm6_sharpa.URDF_PATH.is_file()
- assert xarm6_sharpa.COLLISION_SPHERE_PATH.is_file()
- with open(xarm6_sharpa.COLLISION_SPHERE_PATH) as f:
- assert {f"link{i}" for i in range(1, 7)} <= yaml.safe_load(f)["collision_spheres"].keys()
- assert xarm7_inspire.URDF_PATH.is_file()
- assert xarm7_inspire.HAND_COLLISION_SPHERE_PATH.is_file()
- assert xarm7_inspire.HAND_CONTACT_POINTS_PATH.is_file()
- assert xarm7_inspire.HAND_CONTACT_AVOID_POINTS_PATH.is_file()
- assert xarm7_inspire.HAND_CAPSULE_SELF_COLLISION_IGNORE_PATH.is_file()
- assert xarm7_sharpa.URDF_PATH.is_file()
- assert xarm7_sharpa.COLLISION_SPHERE_PATH.is_file()
- assert xarm7_sharpa.HAND_CONTACT_POINTS_DIR.is_dir()
- assert xarm7_sharpa.HAND_SPHERE_SELF_COLLISION_IGNORE_PATH.is_file()
-
- for urdf_path in (xarm6.URDF_PATH, g1_mano.URDF_PATH, xarm7_inspire.URDF_PATH, xarm7_sharpa.URDF_PATH):
- root = ElementTree.parse(urdf_path).getroot()
- assert all((urdf_path.parent / mesh.attrib["filename"]).is_file() for mesh in root.iter("mesh"))
diff --git a/tests/gallery/test_hand_retargeting_assets.py b/tests/gallery/test_hand_retargeting_assets.py
deleted file mode 100644
index e4a5c52..0000000
--- a/tests/gallery/test_hand_retargeting_assets.py
+++ /dev/null
@@ -1,278 +0,0 @@
-# ruff: noqa: E402
-"""Hand gallery regression with locally prepared DexYCB and robot assets."""
-
-import argparse
-import gc
-import os
-import weakref
-from copy import deepcopy
-from dataclasses import replace
-from pathlib import Path
-
-import pytest
-
-
-pytestmark = pytest.mark.torch
-if os.environ.get("ROBOKIT_ASSET_TESTS") != "1":
- pytest.skip("set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked", allow_module_level=True)
-
-import numpy as np
-import torch
-import warp as wp
-
-from robokit.gallery.hand_retargeting import FINGERS_ONLY, FLOATING, PRESETS, WITH_WRIST, Gallery
-from robokit.helpers.hand_retargeting import HandRetargeterOffline, HandRetargeterOnline
-from robokit.helpers.hand_retargeting.config import HandContext
-from robokit.helpers.hand_retargeting.kinematics_utils import build_retargeting_pairs
-from robokit.terms.dense.frame_vector_task import FrameVectorTask
-from robokit.utils.warp_utils import wp_vec7
-
-
-class TestHandRetargetingGallery:
- @pytest.mark.skipif(not wp.is_cuda_available(), reason="DexYCB gallery requires CUDA")
- def test_stopped_gallery_frees_without_gc(self) -> None:
- """Avoid GUI callbacks closing over `self`, which would keep galleries and cached solvers alive until GC."""
- gc.disable()
- gallery = Gallery(
- argparse.Namespace(
- mode="online",
- ee=next(iter(PRESETS)),
- base=FLOATING,
- motion=WITH_WRIST,
- capture_index=0,
- mano_root=str(Path(__file__).parents[1] / "fixtures"),
- port=0,
- )
- )
- gallery.server.stop()
- ref = weakref.ref(gallery)
- del gallery
- freed = ref() is None
- gc.enable()
- assert freed, "the gallery outlived its last reference: only a GC pass can free it"
-
- @pytest.mark.skipif(not wp.is_cuda_available(), reason="Arm gallery requires CUDA")
- @pytest.mark.parametrize("base", ("xarm7", "xarm6"))
- def test_ability_arm_tracks_translation(self, base: str) -> None:
- """Both baked and assembled rigs follow a translated hand target."""
- gallery = object.__new__(Gallery)
- gallery.model_cache = {}
- gallery.rig_cache = {}
- robot, spec, solver = gallery.model("ability", base, "online", WITH_WRIST)
- q = robot.spec.zero_q.astype(np.float32)
- for name, value in spec.init_q_by_name.items():
- q[robot.spec.actuated_joint_names.index(name)] = value
- initial = robot.state(q=wp.from_numpy(q[None], dtype=wp.float32, device="cuda:0"))
- positions = robot.forward_kinematics(initial).T_world_link.numpy()[0, :, :3]
- online_config = solver.config
- target = np.zeros((len(spec.target_names), 3), dtype=np.float32)
- pair_tasks = [task for task in online_config.terms if task.name in ("vectors", "directions")]
- for a, b, c, d in (pair for task in pair_tasks for pair in task.weight):
- target[spec.target_names.index(c)] = positions[robot.spec.link_names.index(a)]
- target[spec.target_names.index(d)] = positions[robot.spec.link_names.index(b)]
- for name in online_config.task("positions").weight:
- target[spec.target_names.index(name)] = positions[robot.spec.link_names.index(spec.target_link_names[name])]
- wrists = []
- for dx in (0.0, 0.03):
- solver.reset()
- result = solver.solve_numpy(target + np.array([dx, 0, 0], dtype=np.float32), init_state=initial)
- state = robot.forward_kinematics(
- robot.state(q=wp.from_numpy(result[:, 7:].copy(), dtype=wp.float32, device="cuda:0"))
- )
- wrists.append(
- state.T_world_link.numpy()[
- 0, robot.spec.link_names.index(spec.target_link_names[spec.root_target_name]), :3
- ]
- )
- displacement = torch.from_numpy(wrists[1] - wrists[0])
- torch.testing.assert_close(displacement, torch.tensor([0.03, 0, 0]), atol=0.005, rtol=0)
- print(f"{base}+ability: displacement_m={displacement.tolist()}")
-
- @pytest.mark.skipif(not wp.is_cuda_available(), reason="Gallery requires CUDA")
- @pytest.mark.parametrize("ee_name", tuple(PRESETS))
- def test_reads_preset_without_overrides(self, ee_name: str, monkeypatch: pytest.MonkeyPatch) -> None:
- preset = PRESETS[ee_name]
- assert preset.online_wrist is not None
- weighted = replace(preset.online_wrist, terms=deepcopy(preset.online_wrist.terms))
- weighted.task("positions").weight[preset.spec.root_target_name] = 7.0
- weighted.task("smoothness").weight = 0.7
- monkeypatch.setitem(PRESETS, ee_name, replace(preset, online_wrist=weighted))
- gallery = object.__new__(Gallery)
- gallery.model_cache = {}
- gallery.rig_cache = {}
- for motion, expected in ((WITH_WRIST, weighted), (FINGERS_ONLY, preset.online)):
- _, _, solver = gallery.model(ee_name, FLOATING, "online", motion)
- assert solver.config == expected
-
- @pytest.mark.skipif(not wp.is_cuda_available(), reason="DexYCB gallery requires CUDA")
- @pytest.mark.parametrize("ee_name", tuple(PRESETS))
- @pytest.mark.parametrize("capture_index", (0, 1, 5, 10, 50, 200, 500))
- @pytest.mark.parametrize("seed", (0, 3))
- def test_online_wrist_tracks_fingertips(
- self,
- ee_name: str,
- capture_index: int,
- seed: int,
- monkeypatch: pytest.MonkeyPatch,
- request: pytest.FixtureRequest,
- ) -> None:
- preset = PRESETS[ee_name]
- assert preset.online is not None
- assert preset.online_wrist is not None
- config = replace(preset.online_wrist, sampler=replace(preset.online_wrist.sampler, seed=seed))
- monkeypatch.setitem(PRESETS, ee_name, replace(preset, online_wrist=config))
- gallery = Gallery(
- argparse.Namespace(
- mode="online",
- ee=ee_name,
- base=FLOATING,
- motion=WITH_WRIST,
- capture_index=capture_index,
- mano_root="",
- port=0,
- )
- )
- request.addfinalizer(gallery.server.stop)
- gallery.playing.value = False
- assert gallery.online is not None
- robot, spec = gallery.online.robot, gallery.spec
- frames = list(range(gallery.num_frames)) * 3 + [34, 0, gallery.num_frames - 1, 34]
- packed = []
- for step, index in enumerate(frames):
- if step:
- gallery.update(index)
- packed.append(np.r_[gallery.robot_frame.position, gallery.robot_frame.wxyz, gallery.q[index]])
- packed = np.asarray(packed, dtype=np.float32)
- state = robot.forward_kinematics(
- robot.state(
- q=wp.from_numpy(packed[:, 7:].copy(), dtype=wp.float32, device="cuda:0"),
- T_world_base=wp.from_numpy(packed[:, :7].copy(), dtype=wp_vec7, device="cuda:0"),
- )
- )
- links = [robot.spec.link_names.index(spec.target_link_names[name]) for name in spec.contact_target_names]
- actual = torch.from_numpy(state.T_world_link.numpy()[:, links, :3])
- expected = torch.from_numpy(gallery.points[frames][:, gallery.contact_indices])
- error_mm = torch.linalg.vector_norm(actual - expected, dim=-1) * 1000
- if ee_name == "paxini":
- torch.testing.assert_close(error_mm.mean(dim=0), torch.zeros(len(links)), atol=8.0, rtol=0)
- assert torch.quantile(error_mm, 0.95) < 20.0
- assert error_mm[0].max() < 15.0
- wrist = robot.spec.link_names.index(spec.target_link_names[spec.root_target_name])
- wrist_offset = state.T_world_link.numpy()[:, wrist, :3] - gallery.points[frames, gallery.root_index]
- lower, upper = robot.spec.actuated_joint_limits.astype(np.float32).T
- q = torch.from_numpy(packed[:, 7:])
- torch.testing.assert_close(q, torch.from_numpy(np.clip(q.numpy(), lower, upper)), atol=1e-6, rtol=0)
- steps = np.rad2deg(np.diff(packed[:, 7:], axis=0)[np.diff(frames) == 1])
- torch.testing.assert_close(torch.from_numpy(steps), torch.zeros_like(torch.from_numpy(steps)), atol=20, rtol=0)
- # Reset must clear the previous pose, including the smoothness target, after a clip change.
- gallery.online.reset()
- restarted = gallery.online.solve_numpy(gallery.solver_points[0])[0]
- first = packed[0].copy()
- # Parallel collision-pair selection can vary; compare translation, rotation, and joints in their units.
- torch.testing.assert_close(torch.from_numpy(restarted[:3]), torch.from_numpy(first[:3]), atol=1e-4, rtol=0)
- self_collision_weight = any(term.weight for term in config.terms if term.name == "self_collision")
- torch.testing.assert_close(
- torch.from_numpy(restarted[3:7]),
- torch.from_numpy(first[3:7]),
- atol=1e-3 if self_collision_weight else 1e-4,
- rtol=0,
- )
- torch.testing.assert_close(
- torch.from_numpy(restarted[7:]),
- torch.from_numpy(first[7:]),
- atol=float(np.deg2rad(0.25)) if self_collision_weight else 1e-4,
- rtol=0,
- )
- print(
- f"{ee_name} capture={capture_index} seed={seed} frames={len(frames)} "
- f"tip_mean_mm={error_mm.mean():.3f} tip_p95_mm={torch.quantile(error_mm, 0.95):.3f} "
- f"first_tip_max_mm={error_mm[0].max():.3f} "
- f"wrist_max_mm={np.linalg.norm(wrist_offset, axis=-1).max() * 1000:.3f} "
- f"joint_step_max_deg={np.abs(steps).max():.3f} "
- f"reset_joint_max_deg={np.rad2deg(np.abs(restarted[7:] - first[7:])).max():.5f}"
- )
- if preset.offline is not None:
- reference = HandRetargeterOffline(preset.offline, robot, spec, device="cuda:0")
- trajectory = reference.solve_numpy(gallery.points, gallery.data["wrist_quat_wxyz"])
- joint_pose_error = torch.rad2deg(
- (q[: gallery.num_frames] - torch.from_numpy(trajectory[:, 7:])).abs()
- ).mean()
- # This clip previously matched fingertips while folding XHand joints into a different pose.
- if ee_name == "xhand" and capture_index == 0:
- torch.testing.assert_close(joint_pose_error, torch.zeros_like(joint_pose_error), atol=15.0, rtol=0)
- print(f"{ee_name} capture={capture_index} seed={seed} offline_joint_pose_error_deg={joint_pose_error:.3f}")
- error_ratio = 1.5
- else:
- # The two three-finger grippers have no offline preset; compare their original wrist-only configuration.
- positions = FrameVectorTask(
- targets=HandContext.POINTS,
- target_names=HandContext.TARGET_NAMES,
- target_links=HandContext.TARGET_LINK_NAMES,
- weight={spec.root_target_name: 1.0},
- weight_mode="normalized",
- huber_delta=0.02,
- name="positions",
- )
- baseline = replace(
- preset.online,
- sampler=replace(preset.online.sampler, seed=seed),
- terms=[positions, *deepcopy(preset.online.terms)],
- )
- reference = HandRetargeterOnline(baseline, robot, spec, device="cuda:0")
- reference.warmup(1)
- centered = gallery.points - gallery.points[:, gallery.root_index : gallery.root_index + 1]
- trajectory = np.concatenate([reference.solve_numpy(points) for points in centered])
- trajectory[:, :3] += gallery.points[:, gallery.root_index]
- error_ratio = 0.5
- reference_state = robot.forward_kinematics(
- robot.state(
- q=wp.from_numpy(trajectory[:, 7:].copy(), dtype=wp.float32, device="cuda:0"),
- T_world_base=wp.from_numpy(trajectory[:, :7].copy(), dtype=wp_vec7, device="cuda:0"),
- )
- )
- reference_error = (
- np.linalg.norm(
- reference_state.T_world_link.numpy()[:, links, :3] - gallery.points[:, gallery.contact_indices], axis=-1
- )
- * 1000
- )
- assert error_mm[: gallery.num_frames].mean() < reference_error.mean() * error_ratio + 1.0
- # Compare finger segments independently of wrist position and hand size; small tip error can hide bad poses.
- names = [name for name in spec.target_names if name in spec.target_link_names]
- finger_pairs = build_retargeting_pairs(spec, names, include_root=False)
- finger_links = [robot.spec.link_names.index(spec.target_link_names[name]) for name in names]
- positions = np.stack(
- [
- state.T_world_link.numpy()[: gallery.num_frames, finger_links, :3],
- reference_state.T_world_link.numpy()[:, finger_links, :3],
- gallery.points[:, [spec.target_names.index(name) for name in names]],
- ]
- )
- directions = positions[:, :, finger_pairs[:, 1]] - positions[:, :, finger_pairs[:, 0]]
- directions /= np.linalg.norm(directions, axis=-1, keepdims=True)
- angles = np.rad2deg(np.arccos(np.clip((directions[:2] * directions[2:]).sum(axis=-1), -1, 1)))
- assert angles[0].mean() < angles[1].mean() + 5.0
- print(
- f"{ee_name} capture={capture_index} seed={seed} reference_tip_mean_mm={reference_error.mean():.3f} "
- f"finger_angle_mean_deg={angles[0].mean():.3f} reference_finger_angle_mean_deg={angles[1].mean():.3f}"
- )
-
- @pytest.mark.skipif(not wp.is_cuda_available(), reason="Offline arm gallery requires CUDA")
- @pytest.mark.parametrize("ee_name", ("ability", "xhand"))
- def test_offline_arm_keeps_smooth_initialization(self, ee_name: str, request: pytest.FixtureRequest) -> None:
- gallery = Gallery(
- argparse.Namespace(
- mode="offline",
- ee=ee_name,
- base="xarm7",
- motion=WITH_WRIST,
- capture_index=0,
- mano_root="",
- port=0,
- )
- )
- request.addfinalizer(gallery.server.stop)
- steps = torch.from_numpy(np.rad2deg(np.diff(gallery.q, axis=0)))
- torch.testing.assert_close(steps, torch.zeros_like(steps), atol=5.0, rtol=0)
- assert gallery.spec.root_link_coord_spec == PRESETS[ee_name].spec.root_link_coord_spec
- print(f"offline xarm7+{ee_name}: frames={gallery.num_frames} max_step_deg={steps.abs().max().item():.3f}")
diff --git a/tests/helpers/full_body_retargeting/test_full_body_retargeting.py b/tests/helpers/full_body_retargeting/test_full_body_retargeting.py
index f786fc4..ba48a6d 100644
--- a/tests/helpers/full_body_retargeting/test_full_body_retargeting.py
+++ b/tests/helpers/full_body_retargeting/test_full_body_retargeting.py
@@ -1,39 +1,18 @@
-"""Full-body retargeting: clip schema, config defaults, contact runs, and the solve contract."""
+"""Full-body retargeting: clip schema and contact runs."""
-import os
-from dataclasses import replace
from typing import Dict, Optional, Sequence
import numpy as np
import pytest
-import torch
import trimesh
-import warp as wp
-from robokit.geom import MeshGeom, WarpScene
-from robokit.helpers.full_body_retargeting import (
- FullBodyClip,
- FullBodyRetargeter,
- FullBodyRetargetingConfig,
- HandTrajectory,
-)
+from robokit.helpers.full_body_retargeting import FullBodyClip
from robokit.helpers.full_body_retargeting.clip import HANDS, HandTrack, mano_index
-from robokit.helpers.full_body_retargeting.grasp_refine import (
- _CONTACT_LINK_NAMES,
- _MIN_RUN_FRAMES,
- _contact_runs,
- _Hand,
- _refine_grasps,
-)
-from robokit.opt.var_values import VarKey, VarValues
-from robokit.utils.warp_utils import wp_vec7
-from robokit.xform.numpy import pose7_to_tf_mat
+from robokit.helpers.full_body_retargeting.grasp_refine import _MIN_RUN_FRAMES, _contact_runs
pytestmark = pytest.mark.torch
-# Warp may have CUDA when this environment's Torch build does not; check both for this pipeline.
-_DEVICE = "cuda:0" if wp.is_cuda_available() and torch.cuda.is_available() else "cpu"
_FRAMES = 4
_SIDE_X = {"right": -0.15, "left": 0.15}
@@ -72,11 +51,6 @@ def _clip(num_frames: int = _FRAMES, sides: Sequence[str] = HANDS, free: Sequenc
return FullBodyClip(T_native_human=human, human_height=1.7, scale=0.78, fps=30, hands=hands)
-@pytest.fixture(scope="session")
-def retargeter() -> FullBodyRetargeter:
- return FullBodyRetargeter(device=_DEVICE)
-
-
class TestFullBodyClip:
def test_sides_follow_canonical_order(self):
clip = _clip(sides=("left", "right"))
@@ -102,36 +76,6 @@ def test_mano_index_orders_wrist_then_fingers(self):
assert joints[tip_slot] == -1 and tips[tip_slot] >= 0
-@pytest.mark.skipif( # the defaults derive from the G1 preset, which resolves the G1 assets
- os.environ.get("ROBOKIT_ASSET_TESTS") != "1",
- reason="set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked",
-)
-class TestFullBodyRetargetingConfig:
- def test_defaults_match_the_shipped_pipeline(self):
- config = FullBodyRetargetingConfig()
- positions, orientations = config.body.task("positions").weight, config.body.task("orientations").dense_task
- assert (positions["right_wrist_yaw_link"], orientations.weight["right_wrist_yaw_link"]) == (500.0, 150.0)
- assert positions["left_elbow_link"] == 60.0
- assert config.body.task("rest").dense_task.weight[15:18] == [1.0, 0.5, 0.1] # left shoulder pitch, roll, yaw
- assert (config.hand_pass.task("root_position").weight, config.hand_pass.task("positions").weight) == (
- 30.0,
- 10.0,
- )
- assert config.hand_span_clamp == (0.9, 1.4)
- assert (config.arm_snap.solver.num_iters, config.arm_snap_trajectory_iters) == (15, 40)
- assert config.smooth_window == 3
- assert config.object_frame_smooth_window == 5
-
- def test_contact_refine_drops_free_tracking_for_contact(self):
- refine = FullBodyRetargetingConfig().contact_refine
- assert not {term.name for term in refine.terms} & {"positions", "root_position", "retargeting"}
- assert refine.task("contact").weight > 0.0 and refine.task("collision").weight > 0.0
-
- def test_each_config_owns_its_contact_refine(self):
- first, second = FullBodyRetargetingConfig(), FullBodyRetargetingConfig()
- assert first.contact_refine is not second.contact_refine # default_factory, not a shared instance
-
-
class TestContactRuns:
@staticmethod
def _mask(frames: int, slots: Sequence[int], span: slice) -> np.ndarray:
@@ -153,149 +97,3 @@ def test_a_run_always_opposes_the_thumb(self):
def test_thumb_alone_is_not_a_grasp(self):
assert _contact_runs(self._mask(10, (0, 1), slice(0, 6))) == []
-
-
-@pytest.mark.skipif(
- os.environ.get("ROBOKIT_ASSET_TESTS") != "1",
- reason="set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked",
-)
-class TestFullBodyRetargeter:
- def test_batch_keeps_valid_frames_and_each_object_tail(self, retargeter):
- clips = [_clip(num_frames=3), _clip(num_frames=5)]
- clips[0].hands["left"].object_name = "other_box"
- trajectories = [
- {
- side: HandTrajectory(
- q=np.zeros((clip.num_frames, retargeter.hand_robot(side).spec.num_actuated_joints), np.float32),
- T_world_base=clip.hands[side].T_world_object.copy(),
- )
- for side in clip.sides
- }
- for clip in clips
- ]
- results = retargeter.solve_batch(clips, trajectories)
- dofs = retargeter.body_robot.spec.num_actuated_joints
- for clip, result in zip(clips, results):
- assert result.shape == (clip.num_frames, 7 + dofs + 7 * len(clip.object_names))
- assert np.isfinite(result).all()
- expected = np.concatenate(
- [
- next(hand.T_world_object for hand in clip.hands.values() if hand.object_name == name)
- for name in clip.object_names
- ],
- axis=1,
- )
- torch.testing.assert_close(
- torch.from_numpy(result[:, 7 + dofs :]), torch.from_numpy(expected), rtol=0, atol=0
- )
-
- def test_grasp_batch_replaces_scenes_and_resets_anchors(self, retargeter):
- robot = retargeter.hand_robot("right")
- links = np.asarray([robot.spec.link_names.index(name) for name in _CONTACT_LINK_NAMES], np.int32)
- track = _hand_track("right", 3)
- assert track.object_mesh is not None
- base = track.T_native_object.copy()
- base[:, 2] = 0.0
- q = np.tile(robot.spec.midrange_q.astype(np.float32), (3, 1))
- runs = []
- for shift in (0.0, 0.08):
- mesh = track.object_mesh.copy()
- mesh.apply_translation([shift, 0.0, 0.0])
- shifted = replace(track, object_mesh=mesh)
- hand = _Hand(
- shifted,
- robot,
- WarpScene(1, _DEVICE).add(MeshGeom([mesh], np.array([0, 1], np.int32))),
- q.copy(),
- pose7_to_tf_mat(base),
- links,
- )
- runs.append((hand, 0, 3, np.array([0, 2], np.int32)))
- cache = {}
- _refine_grasps(runs, _DEVICE, cache)
- swapped = list(reversed(runs))
- actual = _refine_grasps(swapped, _DEVICE, cache)
- costs = next(iter(cache.values())).solver.costs.numpy().copy()
- fresh = {}
- expected = _refine_grasps(swapped, _DEVICE, fresh)
- torch.testing.assert_close(
- torch.from_numpy(costs),
- torch.from_numpy(next(iter(fresh.values())).solver.costs.numpy()),
- rtol=1e-4,
- atol=1e-4,
- )
- for first, second in zip(actual, expected):
- assert (first is None) == (second is None)
- if first is not None and second is not None:
- torch.testing.assert_close(
- torch.from_numpy(first[0]), torch.from_numpy(second[0]), rtol=1e-4, atol=1e-4
- )
-
- # Evaluate the same candidate states separately: batching must preserve every objective term.
- batch = next(iter(cache.values()))
- state = batch.values.get(VarKey.ROBOT)
- q, bases = state.q.numpy(), state.T_world_base.numpy()
- residuals = [term.compute_weighted_residual(batch.values).numpy().copy() for term in batch.solver.terms]
- width = len(q) // len(swapped)
- for i, run in enumerate(swapped):
- single = {}
- _refine_grasps([run], _DEVICE, single)
- independent = next(iter(single.values()))
- rows = slice(i * width, (i + 1) * width)
- values = VarValues(
- {
- VarKey.ROBOT: robot.state(
- q=wp.from_numpy(q[rows], dtype=wp.float32, device=_DEVICE),
- T_world_base=wp.from_numpy(bases[rows], dtype=wp_vec7, device=_DEVICE),
- )
- }
- )
- for term, residual in zip(independent.solver.terms, residuals):
- torch.testing.assert_close(
- torch.from_numpy(term.compute_weighted_residual(values).numpy()),
- torch.from_numpy(residual[rows]),
- rtol=1e-4,
- atol=1e-4,
- )
-
- def test_output_packs_base_joints_then_object_poses(self, retargeter):
- clip = _clip()
- qpos = retargeter.solve(clip)
- num_dofs = retargeter.body_robot.spec.num_actuated_joints
- assert qpos.shape == (clip.num_frames, 7 + num_dofs + 7 * len(clip.object_names))
- assert np.isfinite(qpos).all()
-
- def test_object_tail_passes_the_clip_poses_through(self, retargeter):
- clip = _clip()
- qpos = retargeter.solve(clip)
- tail = qpos[:, 7 + retargeter.body_robot.spec.num_actuated_joints :]
- np.testing.assert_allclose(tail, clip.hands["right"].T_world_object, rtol=0, atol=0)
-
- def test_max_frames_caps_the_solve(self, retargeter):
- qpos = retargeter.solve(_clip(num_frames=_FRAMES), max_frames=3)
- assert qpos.shape[0] == 3
-
- def test_finger_joints_are_clamped_to_their_limits(self, retargeter):
- spec = retargeter.body_robot.spec
- qpos = retargeter.solve(_clip())
- finger = [i for i, name in enumerate(spec.actuated_joint_names) if name.startswith(("R_", "L_"))]
- limits = spec.actuated_joint_limits[finger]
- q = qpos[:, 7 + np.asarray(finger)]
- assert (q >= limits[:, 0]).all() and (q <= limits[:, 1]).all()
-
- def test_a_clip_without_a_grasped_object_is_rejected(self, retargeter):
- with pytest.raises(ValueError, match="no grasped object"):
- retargeter.solve(_clip(free=HANDS))
-
- def test_unknown_trajectory_sides_are_rejected(self, retargeter):
- trajectory = HandTrajectory(
- q=np.zeros((_FRAMES, 12), np.float32), T_world_base=np.zeros((_FRAMES, 7), np.float32)
- )
- with pytest.raises(ValueError, match="unknown hand trajectories"):
- retargeter.solve(_clip(sides=("right",)), hand_trajectories={"left": trajectory})
-
- def test_hand_robot_exposes_both_guarded_hands(self, retargeter):
- for side in HANDS:
- robot = retargeter.hand_robot(side)
- assert robot.spec.local_collision_sphere_centers.shape[0] > 0
- assert "hand_base_link" in robot.spec.link_names
diff --git a/tests/helpers/grasp/test_grasp.py b/tests/helpers/grasp/test_grasp.py
index 691b275..1464008 100644
--- a/tests/helpers/grasp/test_grasp.py
+++ b/tests/helpers/grasp/test_grasp.py
@@ -1,201 +1,8 @@
-import os
-
import numpy as np
-import pytest
-import trimesh
import warp as wp
-from robokit.geom import MeshGeom, WarpScene
from robokit.helpers.grasp import ContactSampler, ContactSamplerConfig, ContactVar
-from robokit.opt.gd_optimizer import AnnealedGDConfig, AnnealedGDOptimizer
-from robokit.opt.optimizer import aggregate_residuals_to_costs_kernel
-from robokit.opt.population_solver import PopulationSolver, PopulationSolverConfig
from robokit.opt.var_values import VarKey, VarValues
-from robokit.robo.robot import Robot
-from robokit.robo.robot_spec import load_link_points
-from robokit.terms.dense.force_closure_task import ForceClosureTask
-from robokit.terms.dense.position_limit import PositionLimit
-from robokit.terms.dense.scene_collision_task import SceneCollisionTask
-from robokit.terms.dense.scene_distance_task import SceneDistanceTask
-from robokit.terms.dense.self_collision_task import SelfCollisionTask
-from robokit.utils.warp_utils import wp_vec7
-
-
-NUM_GRASPS = 8
-NUM_CONTACTS = 5
-_asset_tests = pytest.mark.skipif(
- os.environ.get("ROBOKIT_ASSET_TESTS") != "1",
- reason="set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked",
-)
-
-
-@pytest.fixture(scope="module")
-def hand():
- """Load the hand once; fitting its link capsules from the meshes costs over a second."""
- from robokit.assets.robots.end_effectors import xhand # resolves Hugging Face assets on import
-
- robot = Robot.load(
- str(xhand.URDF_GLB_PATH_RIGHT),
- load_meshes=True,
- load_collision_spheres=True,
- collision_spheres_path=xhand.COLLISION_SPHERE_PATH_RIGHT,
- self_collision_ignore_path=xhand.SPHERE_SELF_COLLISION_IGNORE_PATH_RIGHT,
- )
- return robot, load_link_points(robot.link_names, xhand.CONTACT_POINTS_PATH_RIGHT)
-
-
-def _state(robot, device: str, num_grasps: int = NUM_GRASPS):
- rng = np.random.default_rng(0)
- base = np.zeros((num_grasps, 7), np.float32)
- base[:, :3] = rng.normal(size=(num_grasps, 3)) * 0.02 + np.array([0.16, 0.0, 0.0], np.float32)
- base[:, 3] = 1.0
- state = robot.state(
- q=wp.from_numpy(
- np.full((num_grasps, robot.num_actuated_joints), 0.1, np.float32), dtype=wp.float32, device=device
- ),
- T_world_base=wp.from_numpy(base, dtype=wp_vec7, device=device),
- )
- state.clamp_q_on_integrate = True
- return state
-
-
-def _scene(device: str) -> WarpScene:
- return WarpScene(1, device).add(MeshGeom([trimesh.creation.cylinder(radius=0.035, height=0.19)], np.array([0, 1])))
-
-
-def _terms(robot, device: str, lm: bool) -> list:
- """The grasp energy over a `contacts` var: GD takes each weight as `0.5 * w * r²`, LM as a residual scale."""
- scale = float if lm else (lambda w: float(np.sqrt(2.0 * w)))
- mode = "abs" if lm else "sqrt_abs"
- target, collision = _scene(device), _scene(device)
- contact = dict(robot=robot, warp_meshes=target, num_contact_points=NUM_CONTACTS, points_var_key=VarKey.CONTACTS)
- distance = SceneDistanceTask(weight=scale(100.0), residual_mode=mode, **contact) # type: ignore[arg-type]
- scene_indices = wp.zeros(1, dtype=wp.int32, device=device)
- return [
- distance,
- ForceClosureTask(weight=scale(1.0), distance_task=distance, **contact), # type: ignore[arg-type]
- PositionLimit(robot=robot, weight=scale(1.0), residual_mode=mode),
- SceneCollisionTask(
- robot=robot, scene=collision, scene_indices=scene_indices, weight=scale(100.0), residual_mode=mode
- ),
- SelfCollisionTask(robot=robot, weight=scale(10.0), margin=0.02, residual_mode=mode),
- ]
-
-
-def _solve(hand, device: str, max_iter: int, use_cuda_graph: bool = False, lm: bool = False, num_candidates: int = 1):
- """Run GD or LM with ContactSampler every 8 steps; return values, costs, terms, solver, and initial state."""
- robot, (points, link_indices) = hand
- mode = "iter" if use_cuda_graph else "none"
- batch = NUM_GRASPS * num_candidates
- contacts = ContactVar(points, link_indices, batch, NUM_CONTACTS, 0.0 if lm else 0.5, seed=0, device=device)
- initial = contacts.indices.numpy().copy()
- var = VarValues({VarKey.ROBOT: _state(robot, device, batch), VarKey.CONTACTS: contacts})
- terms = _terms(robot, device, lm)
- if lm:
- config = PopulationSolverConfig(
- num_iters=max_iter,
- samplers=[ContactSamplerConfig()],
- sample_at=range(0, max_iter, 8),
- num_candidates=[num_candidates],
- cuda_graph_mode=mode,
- )
- solver = PopulationSolver([terms], config, device)
- else:
- solver = AnnealedGDOptimizer(terms, AnnealedGDConfig(max_iter=max_iter, cuda_graph_mode=mode, seed=0), device)
- values, costs = solver.solve(var)
- return values, costs, terms, solver, initial
-
-
-def _costs(terms: list, values: VarValues) -> dict:
- """Per-term cost of `values`."""
- batch, device = values.batch_size, values.device
- out = {}
- for term in terms:
- term.precompute(values, need_gradient=False)
- residual = term.compute_weighted_residual(values)
- cost = wp.zeros((batch,), dtype=wp.float32, device=device)
- wp.launch(aggregate_residuals_to_costs_kernel, dim=batch, inputs=[residual, cost], device=device)
- out[term.cost_name] = cost
- return out
-
-
-@_asset_tests
-class TestGraspSolve:
- def test_annealing_reduces_cost(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- init_costs = _solve(hand, device, 0)[1].numpy().mean()
- assert _solve(hand, device, 200)[1].numpy().mean() < 0.5 * init_costs
-
- def test_contact_indices_stay_in_range_and_distinct(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- contacts = _solve(hand, device, 50)[0].get(VarKey.CONTACTS)
- indices = contacts.indices.numpy()
- assert indices.min() >= 0 and indices.max() < contacts.num_hand_points
- assert all(len(np.unique(row)) == row.size for row in indices)
-
- def test_annealing_scores_the_contacts_it_accepts(self, hand):
- """The accepted cost must be the cost of the accepted var, contacts included."""
- device = "cuda" if wp.is_cuda_available() else "cpu"
- values, costs, terms, _, _ = _solve(hand, device, 20)
- recomputed = sum(c.numpy() for c in _costs(terms, values).values())
- np.testing.assert_allclose(costs.numpy(), recomputed, rtol=1e-4, atol=1e-5)
-
- def test_joints_stay_within_limits(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- q = _solve(hand, device, 50)[0].get(VarKey.ROBOT).q.numpy()
- limits = hand[0].spec.actuated_joint_limits
- assert np.all(q >= limits[:, 0] - 1e-6) and np.all(q <= limits[:, 1] + 1e-6)
-
- def test_lm_resampling_reduces_cost_and_switches_contacts(self, hand):
- """LM redraws contacts every 8 iterations and keeps the better set, as graspkit does."""
- device = "cuda" if wp.is_cuda_available() else "cpu"
- init_costs = _solve(hand, device, 0, lm=True)[1].numpy()
- values, costs, _, _, initial = _solve(hand, device, 32, lm=True)
- assert costs.numpy().mean() < 0.5 * init_costs.mean()
- assert np.any(values.get(VarKey.CONTACTS).indices.numpy() != initial) # a fresh set won somewhere
-
- def test_lm_candidates_return_one_candidate_per_grasp(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- values, costs, _, solver, _ = _solve(hand, device, 16, lm=True, num_candidates=4)
- assert values.batch_size == NUM_GRASPS and costs.shape == (NUM_GRASPS,)
- best_per_grasp = solver.candidate_scores.numpy().reshape(NUM_GRASPS, -1).min(axis=1)
- assert costs.numpy().max() <= best_per_grasp.max() + 1e-4
-
- @pytest.mark.skipif(not wp.is_cuda_available(), reason="cuda graph capture requires a GPU")
- def test_cuda_graph_matches_eager(self, hand):
- # Keep iterations short: atomic Jacobian sums drift between runs, while these paths remain bit-identical.
- eager = _solve(hand, "cuda", 50, use_cuda_graph=False)[1].numpy()
- graph = _solve(hand, "cuda", 50, use_cuda_graph=True)[1].numpy()
- np.testing.assert_array_equal(graph, eager)
-
-
-@_asset_tests
-class TestSharedContactQuery:
- def test_force_closure_reads_the_distance_query(self, hand):
- """Built with `distance_task`, the force-closure residual matches its own query and skips one scene query."""
- device = "cuda" if wp.is_cuda_available() else "cpu"
- robot, (points, link_indices) = hand
- target = _scene(device)
- contacts = ContactVar(points, link_indices, 4, 4, switch_probability=0.0, device=device)
- var = VarValues({VarKey.ROBOT: _state(robot, device, 4), VarKey.CONTACTS: contacts})
- distance = SceneDistanceTask(
- robot=robot, warp_meshes=target, num_contact_points=4, points_var_key=VarKey.CONTACTS
- )
- alone = ForceClosureTask(robot=robot, warp_meshes=target, num_contact_points=4, points_var_key=VarKey.CONTACTS)
- fed = ForceClosureTask(
- robot=robot,
- warp_meshes=target,
- num_contact_points=4,
- points_var_key=VarKey.CONTACTS,
- distance_task=distance,
- )
- queries, query = [], target.query_sdf
- target.query_sdf = lambda *args, **kwargs: (queries.append(1), query(*args, **kwargs))[1]
- distance.compute_weighted_residual(var)
- expected = alone.compute_weighted_residual(var).numpy()
- assert len(queries) == 2
- np.testing.assert_allclose(fed.compute_weighted_residual(var).numpy(), expected)
- assert len(queries) == 2 # the fed term never queried itself
class TestContactVar:
@@ -244,55 +51,6 @@ def test_accept_restores_the_draws_with_the_indices(self):
np.testing.assert_array_equal(var.integrate(velocity).indices.numpy(), first)
-@_asset_tests
-class TestContactSampler:
- def _population(self, hand, device: str, num_grasps: int = 4) -> VarValues:
- robot, (points, link_indices) = hand
- contacts = ContactVar(points, link_indices, num_grasps, 4, switch_probability=0.0, device=device)
- return VarValues({VarKey.ROBOT: _state(robot, device, num_grasps), VarKey.CONTACTS: contacts})
-
- def test_draws_pair_each_candidate_with_fresh_contacts(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- var = self._population(hand, device)
- draws = var.get(VarKey.CONTACTS).indices.numpy()
- out = ContactSampler(device=device).sample(var, None)
- assert out.batch_size == 8
- indices = out.get(VarKey.CONTACTS).indices.numpy()
- np.testing.assert_array_equal(indices[0::2], draws)
- assert np.all(np.any(indices[1::2] != draws, axis=1))
- np.testing.assert_array_equal(out.get(VarKey.ROBOT).q.numpy()[1::2], var.get(VarKey.ROBOT).q.numpy())
-
- def test_scored_draws_fold_into_the_better_one(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- var = self._population(hand, device)
- sampler = ContactSampler(device=device)
- draws = sampler.sample(var, None)
- fresh = draws.get(VarKey.CONTACTS).indices.numpy()[1::2].copy()
- kept = var.get(VarKey.CONTACTS).indices.numpy().copy()
- scores = wp.array(np.array([1, 0, 0, 1, 1, 0, 0, 1], np.float32), dtype=wp.float32, device=device)
- again = sampler.sample(draws, scores)
- assert again is draws
- folded = var.get(VarKey.CONTACTS).indices.numpy()
- np.testing.assert_array_equal(folded[[0, 2]], fresh[[0, 2]])
- np.testing.assert_array_equal(folded[[1, 3]], kept[[1, 3]])
- np.testing.assert_array_equal(again.get(VarKey.CONTACTS).indices.numpy()[0::2], folded)
- assert np.all(np.any(again.get(VarKey.CONTACTS).indices.numpy()[1::2] != fresh, axis=1))
-
-
-@_asset_tests
-class TestClampOnIntegrate:
- def test_integrate_clamps_joints_and_keeps_the_flag(self, hand):
- device = "cuda" if wp.is_cuda_available() else "cpu"
- robot = hand[0]
- state = _state(robot, device, 2)
- velocity = wp.full((2, state.tangent_dim), 100.0, dtype=wp.float32, device=device)
- out = state.integrate(velocity)
- assert out.clamp_q_on_integrate and state.clone().clamp_q_on_integrate and state.view(1).clamp_q_on_integrate
- np.testing.assert_allclose(out.q.numpy(), np.tile(robot.spec.actuated_joint_limits[:, 1], (2, 1)))
- state.clamp_q_on_integrate = False
- assert np.all(state.integrate(velocity).q.numpy() > robot.spec.actuated_joint_limits[:, 1])
-
-
class TestContactSamplerConfig:
def test_config_builds_independent_samplers(self):
points = np.random.default_rng(0).normal(size=(9, 3)).astype(np.float32)
diff --git a/tests/helpers/hand_retargeting/test_offline_assets.py b/tests/helpers/hand_retargeting/test_offline_assets.py
deleted file mode 100644
index 23ae0d6..0000000
--- a/tests/helpers/hand_retargeting/test_offline_assets.py
+++ /dev/null
@@ -1,93 +0,0 @@
-# ruff: noqa: E402
-"""DexYCB and real-preset integration tests for unified offline retargeting."""
-
-import os
-from copy import deepcopy
-from dataclasses import replace
-
-import pytest
-
-
-os.environ.setdefault("WARP_CACHE_PATH", "/tmp/warp-cache")
-
-if os.environ.get("ROBOKIT_ASSET_TESTS") != "1":
- pytest.skip("set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked", allow_module_level=True)
-
-from typing import Tuple
-
-import numpy as np
-import warp as wp
-
-from robokit.assets.robots.end_effectors import xhand as xhand_asset
-from robokit.helpers.hand_retargeting import HandRetargeterOffline
-from robokit.helpers.hand_retargeting.dexycb_utils import DexYCBVideoDataset, load_dexycb_keypoints
-from robokit.helpers.hand_retargeting.presets.xhand import offline, spec
-from robokit.opt.lm_optimizer import LMOptimizerConfig
-from robokit.robo import Robot
-from robokit.xform.numpy import matrix_to_quaternion, quaternion_multiply
-
-
-class TestHandRetargeterOffline:
- def _targets_from_q(self, q: np.ndarray) -> Tuple[np.ndarray, np.ndarray]:
- robot = Robot.load(str(xhand_asset.URDF_PATH_RIGHT))
- state = robot.state(q=wp.from_numpy(q, dtype=wp.float32, device="cpu"))
- robot.forward_kinematics(state)
- T_world_link = state.T_world_link.numpy()
- link_index = {name: index for index, name in enumerate(robot.spec.link_names)}
- points = np.zeros((*q.shape[:2], len(spec.target_names), 3), dtype=np.float32)
- for target_name, link_name in spec.target_link_names.items():
- points[:, :, spec.target_names.index(target_name)] = T_world_link[:, :, link_index[link_name], :3]
- root_link = link_index[spec.target_link_names[spec.root_target_name]]
- return points, T_world_link[:, :, root_link, 3:].copy()
-
- def test_dexycb_bundle_loader_uses_plain_dicts(self) -> None:
- from robokit.assets.body_models import mano
- from robokit.assets.datasets import dexycb
-
- dexycb_dir = dexycb.DIR
- dataset = DexYCBVideoDataset(dexycb_dir)
- sequence = dataset[0]
- assert len(dataset) > 0
- assert sequence["hand_pose"].shape == (72, 1, 51)
- assert sequence["hand_shape"].shape == (10,)
- assert sequence["extrinsics"].shape == (4, 4)
- assert sequence["object_pose_camera_xyzw_xyz"].shape == (72, 7)
- assert sequence["object_mesh_path"].exists()
- assert sequence["capture_name"] == "capture_0000"
-
- data = load_dexycb_keypoints(dexycb_dir, mano.DIR, capture_index=0, device="cpu")
- assert data["keypoints"].shape == (63, 21, 3)
- assert data["wrist_quat_wxyz"].shape == (63, 4)
- assert data["object_pos"].shape == (63, 3)
- assert data["object_quat_wxyz"].shape == (63, 4)
- assert data["object_mesh_path"].exists()
-
- T_camera_object_raw = sequence["object_pose_camera_xyzw_xyz"][data["frame_indices"][0]]
- q_wxyz_camera_object = T_camera_object_raw[[3, 0, 1, 2]].astype(np.float32)
- q_wxyz_camera_object /= np.linalg.norm(q_wxyz_camera_object)
- q_wxyz_world_camera = matrix_to_quaternion(np.linalg.inv(sequence["extrinsics"])[:3, :3]).astype(np.float32)
- q_wxyz_world_object = quaternion_multiply(q_wxyz_world_camera, q_wxyz_camera_object).astype(np.float32)
- assert np.allclose(data["object_quat_wxyz"][0], q_wxyz_world_object)
-
- def test_normal_and_contact_shapes(self) -> None:
- robot = Robot.load(str(xhand_asset.URDF_PATH_RIGHT))
- num_frames = 7
- q = np.tile(robot.spec.midrange_q.astype(np.float32), (1, num_frames, 1))
- points, _ = self._targets_from_q(q)
- config = replace(
- offline,
- solver=LMOptimizerConfig(linear_solver="cg", max_iter=0, lm_lambda=0.5, cuda_graph_mode="none"),
- terms=deepcopy(offline.terms),
- )
- config.task("root_rotation").dense_task.weight = 0.0
- retargeter = HandRetargeterOffline(config, robot, spec, device="cpu")
- packed = retargeter.solve_numpy(points)
- contact_indices = [spec.target_names.index(name) for name in spec.contact_target_names]
- contact_points = points[:, :, contact_indices]
- contact_mask = np.ones(contact_points.shape[:-1], dtype=np.bool_)
- contact = retargeter.solve_with_contact_numpy(points, contact_points, contact_mask)
-
- expected = (1, num_frames, 7 + robot.spec.num_actuated_joints)
- assert packed.shape == contact.shape == expected
- assert np.isfinite(packed).all()
- assert np.isfinite(contact).all()
diff --git a/tests/helpers/humanoid_retargeting/test_batched_retargeting.py b/tests/helpers/humanoid_retargeting/test_batched_retargeting.py
index a191aa1..592a863 100644
--- a/tests/helpers/humanoid_retargeting/test_batched_retargeting.py
+++ b/tests/helpers/humanoid_retargeting/test_batched_retargeting.py
@@ -1,6 +1,5 @@
"""Public offline retargeting handles batched clips and variable lengths."""
-import os
from dataclasses import replace
from pathlib import Path
from typing import Sequence
@@ -252,31 +251,6 @@ def test_legacy_yaml_and_offline_roundtrip(self, tmp_path):
assert path.read_text() == expected_yaml
assert asdict(HumanoidRetargeterOfflineConfig.from_yaml(path).solver) == asdict(offline.solver)
- @pytest.mark.skipif(
- os.environ.get("ROBOKIT_ASSET_TESTS") != "1",
- reason="set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked",
- )
- def test_every_preset_roundtrips(self, tmp_path):
- import importlib
- import pkgutil
-
- from robokit.helpers.humanoid_retargeting import presets
-
- configs = [
- value
- for module in pkgutil.iter_modules(presets.__path__)
- if not module.name.startswith("_")
- for value in vars(importlib.import_module(f"{presets.__name__}.{module.name}")).values()
- if isinstance(value, (HumanoidRetargeterOnlineConfig, HumanoidRetargeterOfflineConfig))
- ]
- assert len(configs) > 40
- for config in configs:
- config.to_yaml(tmp_path / "a.yaml")
- restored = type(config).from_yaml(tmp_path / "a.yaml")
- restored.to_yaml(tmp_path / "b.yaml")
- assert (tmp_path / "a.yaml").read_text() == (tmp_path / "b.yaml").read_text()
- assert [type(t) for t in restored.terms] == [type(t) for t in config.terms]
-
def test_callable_schedule_cannot_be_silently_dropped(self, tmp_path):
from robokit.opt.gd_optimizer import GDOptimizerConfig
diff --git a/tests/utils/test_assembly_utils.py b/tests/utils/test_assembly_utils.py
index d2c7952..5d39a40 100644
--- a/tests/utils/test_assembly_utils.py
+++ b/tests/utils/test_assembly_utils.py
@@ -1,7 +1,4 @@
-import os
-from importlib import import_module
from pathlib import Path
-from types import ModuleType
import numpy as np
import pytest
@@ -14,65 +11,7 @@
from robokit.utils.ee_coord_utils import MountCoordinateSpec
-_ASSET_TESTS = os.environ.get("ROBOKIT_ASSET_TESTS") == "1"
-# Assembly mount specs must reproduce FK within tolerance:
-# - xarm7_xhand rounds mount rpy to two decimals.
-# - g1_mano omits the xArm7 rigs' 8 mm adapter plate.
-_BAKED = {
- "xarm7_xhand": ("arms.xarm7", "end_effectors.xhand", "", 5e-3),
- "xarm7_ability": ("arms.xarm7", "end_effectors.ability_hand", "", 1e-5),
- "xarm7_mano": ("arms.xarm7", "end_effectors.mano_hand", "mano_", 1e-5),
- "xarm7_sharpa": ("arms.xarm7", "end_effectors.sharpa_hand", "", 1e-5),
- "xarm7_inspire": ("arms.xarm7", "end_effectors.inspire_hand", "", 1e-5),
- "xarm6_sharpa": ("arms.xarm6", "end_effectors.sharpa_hand", "", 1e-5),
- "vega_sharpa": ("humanoids.vega_1", "end_effectors.sharpa_hand", "", 1e-5),
- "g1_mano": ("humanoids.unitree_g1", "end_effectors.mano_hand", "mano_", 1e-2),
-}
-
-
class TestRobotAssembly:
- @pytest.mark.skipif(
- not _ASSET_TESTS, reason="set ROBOKIT_ASSET_TESTS=1 with locally prepared assets; HF is blocked"
- )
- @pytest.mark.parametrize("name", sorted(_BAKED))
- def test_mount_specs_reproduce_baked_assembly(self, tmp_path: Path, name: str) -> None:
- base_name, ee_name, prefix, atol = _BAKED[name]
- base = import_module(f"robokit.assets.robots.{base_name}")
- ee = import_module(f"robokit.assets.robots.{ee_name}")
- baked = import_module(f"robokit.assets.robots.assembly.{name}")
- base_side = "_RIGHT" if hasattr(base, "MOUNT_LINK_NAME_RIGHT") else ""
- ee_side = "_RIGHT" if hasattr(ee, "MOUNT_LINK_NAME_RIGHT") else ""
-
- def urdf(module: ModuleType, side: str = "") -> Path: # bare base, GLB variant when the baked file uses it
- names = (f"URDF_WITHOUT_HAND_PATH{side}", f"URDF_GLB_PATH{side}", f"URDF_PATH{side}")
- return next(getattr(module, n) for n in names if hasattr(module, n))
-
- T_mount_ee = compute_mount_transform(
- getattr(base, f"MOUNT_COORD_SPEC{base_side}"), getattr(ee, f"MOUNT_COORD_SPEC{ee_side}")
- )
- output = assemble_urdf(
- tmp_path / f"{name}.urdf",
- urdf(base),
- urdf(ee, ee_side),
- getattr(base, f"MOUNT_LINK_NAME{base_side}"),
- getattr(ee, f"MOUNT_LINK_NAME{ee_side}"),
- T_mount_ee,
- prefix,
- )
- made = yourdfpy.URDF.load(str(output), load_meshes=False)
- baked = yourdfpy.URDF.load(str(urdf(baked)), load_meshes=False)
- assert set(made.actuated_joint_names) <= set(baked.actuated_joint_names)
- # Baked files may add or move camera frames; every shared arm and hand link must still agree.
- shared = sorted((set(made.link_map) & set(baked.link_map)) - {"d435_link"})
- assert prefix + getattr(ee, f"MOUNT_LINK_NAME{ee_side}") in shared
- rng = np.random.default_rng(0)
- for _ in range(20):
- q = {name: rng.uniform(-1.0, 1.0) for name in made.actuated_joint_names}
- made.update_cfg(q)
- baked.update_cfg(q)
- for link in shared:
- np.testing.assert_allclose(made.get_transform(link), baked.get_transform(link), atol=atol, err_msg=link)
-
def test_assemble_urdf_with_two_attachments(self, tmp_path: Path) -> None:
base = tmp_path / "base.urdf"
base.write_text(
diff --git a/uv.lock b/uv.lock
deleted file mode 100644
index c2c85b5..0000000
--- a/uv.lock
+++ /dev/null
@@ -1,13079 +0,0 @@
-version = 1
-revision = 3
-requires-python = ">=3.8"
-resolution-markers = [
- "(python_full_version >= '3.12' and sys_platform == 'linux' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version >= '3.12' and sys_platform == 'win32' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')",
- "python_full_version >= '3.12' and sys_platform == 'darwin' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128'",
- "python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128'",
- "(python_full_version >= '3.12' and sys_platform == 'linux' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128') or (python_full_version >= '3.12' and sys_platform == 'win32' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128')",
- "python_full_version >= '3.12' and sys_platform == 'darwin' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128'",
- "python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-7-robokit-pt-cpu' and extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128'",
- "(python_full_version >= '3.12' and sys_platform == 'linux' and extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128') or (python_full_version >= '3.12' and sys_platform == 'win32' and extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128')",
- "python_full_version >= '3.12' and sys_platform == 'darwin' and extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128'",
- "python_full_version >= '3.12' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra != 'extra-7-robokit-pt-cu126' and extra != 'extra-7-robokit-pt-cu128'",
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- { package = "robokit", extra = "pt-cu128" },
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-[manifest]
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- { name = "torch", version = "2.8.0", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version == '3.9.*' and sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
- { name = "torch", version = "2.8.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version == '3.9.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
- { name = "torch", version = "2.8.0+cpu", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version == '3.9.*' and sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu') or (python_full_version == '3.9.*' and sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
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- { name = "torch", version = "2.14.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.10' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
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-]
-pt-cu118 = [
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- { name = "torch", version = "2.8.0", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version == '3.9.*' and sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
- { name = "torch", version = "2.8.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version == '3.9.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
- { name = "torch", version = "2.14.1", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version >= '3.10' and sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
- { name = "torch", version = "2.14.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.10' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra != 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128')" },
-]
-pt-cu126 = [
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- { name = "torch", version = "2.4.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version < '3.9' and sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version >= '3.9' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128')" },
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- { name = "torch", version = "2.8.0", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version == '3.9.*' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version != '3.9.*' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128')" },
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- { name = "torch", version = "2.14.1", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version >= '3.10' and sys_platform != 'darwin' and sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version < '3.10' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128')" },
- { name = "torch", version = "2.14.1+cu126", source = { registry = "https://download.pytorch.org/whl/cu126" }, marker = "(python_full_version >= '3.10' and sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu126') or (python_full_version >= '3.10' and sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128')" },
-]
-pt-cu128 = [
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- { name = "nvidia-nccl-cu12", version = "2.27.3", source = { registry = "https://pypi.org/simple" }, marker = "(python_full_version == '3.9.*' and sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version == '3.9.*' and sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'linux' and sys_platform != 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'linux' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (sys_platform == 'win32' and extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128')" },
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- { name = "torch", version = "2.4.1", source = { registry = "https://download.pytorch.org/whl/cpu" }, marker = "(python_full_version < '3.9' and sys_platform == 'darwin' and extra == 'extra-7-robokit-pt-cu128') or (python_full_version >= '3.9' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (sys_platform != 'darwin' and extra == 'extra-7-robokit-pt-cu126' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu118') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cpu' and extra == 'extra-7-robokit-pt-cu128') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu126') or (extra == 'extra-7-robokit-pt-cu118' and extra == 'extra-7-robokit-pt-cu128')" },
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