diff --git a/README.md b/README.md index 2c59ac9..4e2ce9a 100644 --- a/README.md +++ b/README.md @@ -61,24 +61,35 @@ The easiest way to get started is by cloning the repository and using `uv` to ma uv sync --extra mujoco ``` - All six extras, with `uv`: + The six extras do not all go in one environment, because they need + different MuJoCo versions: - ```bash - uv sync --extra mujoco --extra robomimic --extra atari --extra classic --extra libero --extra d4rl - ``` + - `mujoco`, `classic`, `atari` and `d4rl` share one, on gymnasium's + MuJoCo 3: - ``` - pip install -e ".[mujoco, robomimic, atari, classic, libero, d4rl]" - ``` + ```bash + uv sync --extra mujoco --extra classic --extra atari --extra d4rl + ``` + + - `robomimic` and `libero` each need robosuite 1.4.1 with MuJoCo 2.3.7, + which is what the LIBERO experiments ran on. Give each an environment + of its own, in a separate checkout: + + ```bash + uv sync --extra robomimic # or: uv sync --extra libero + ``` + + `pyproject.toml` declares `mujoco` in conflict with the other two, so `uv` + refuses to combine them rather than resolving one MuJoCo for both. With + `pip`, keep the two sets in separate virtual environments. + + Correction: this section used to give one command for all six extras. It + could not produce a working environment: robosuite 1.4.1 rejects MuJoCo 3, + and the `mujoco` extra needs it. Neither was the lock resolving them + correctly. It still held robomimic 0.3.0 after the extra moved to 0.4.0, + and resolving it again would have put MuJoCo 2.3.7 under `mujoco` too. - Correction: these two lines were labelled "Everything" but listed only five - of the six extras `pyproject.toml` declares - `d4rl` was missing, while the - environment table below names it as the extra for `d4rl-v1`. Against the - committed `uv.lock`, all six resolve to 100 packages and the old five to 97 - (`uv sync --frozen --dry-run`, uv 0.9.8): `robomimic` already carries `d4rl` - and `mujoco-py`, so the `d4rl` extra itself adds `gymnasium-robotics`, - `mujoco-py-cython3` and `pettingzoo`. Note that "all six" is not a light - install - E1 measures the env client with the `robomimic` extra at 7.2G with + The `robomimic` extra is not a light install. E1 measures it at 7.2G with 16 CUDA wheels, because robomimic ships its own policy learning code. Note: `robomimic` and `libero` pull in `egl-probe`, whose legacy CMake build diff --git a/pyproject.toml b/pyproject.toml index 729af48..21351bc 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -56,8 +56,12 @@ d4rl = [ "patchelf>=0.17.2.4,<0.18.0", "gymnasium-robotics[mujoco-py]>=1.4.1,<2.0.0", ] +# LIBERO runs on the same stack as robomimic: robosuite 1.4.1 with MuJoCo +# 2.3.7, as in the client environment E42 recorded. Unpinned, it resolved +# MuJoCo 3.6, which robosuite 1.4.1 rejects. libero = [ "libero @ git+https://github.com/CTP314/LIBERO.git@f3bf9428c0d7113b0b72d1462d9552fca35fcf92", + "mujoco==2.3.7", ] [dependency-groups] @@ -82,6 +86,12 @@ testpaths = ["tests"] [tool.uv] extra-build-variables = { "egl-probe" = { CMAKE_POLICY_VERSION_MINIMUM = "3.5" } } +# robomimic and LIBERO need MuJoCo 2.3.7 and `mujoco` needs MuJoCo 3, so the +# lock resolves them separately instead of forcing one MuJoCo on all of them. +conflicts = [ + [{ extra = "robomimic" }, { extra = "mujoco" }], + [{ extra = "libero" }, { extra = "mujoco" }], +] [build-system] requires = ["setuptools>=77", "wheel"] diff --git a/uv.lock b/uv.lock index 79658e8..0ebdab7 100644 --- a/uv.lock +++ b/uv.lock @@ -6,6 +6,13 @@ resolution-markers = [ "python_full_version == '3.11.*'", "python_full_version < '3.11'", ] +conflicts = [[ + { package = "plugrl-env-client", extra = "mujoco" }, + { package = "plugrl-env-client", extra = "robomimic" 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or (extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic')" }, { name = "wrapt" }, ] sdist = { url = "https://files.pythonhosted.org/packages/a6/83/ce29720ccf934c6cfa9b9c95ebbe96558386e66886626066632b5e44afed/dm_tree-0.1.9.tar.gz", hash = "sha256:a4c7db3d3935a5a2d5e4b383fc26c6b0cd6f78c6d4605d3e7b518800ecd5342b", size = 35623, upload-time = "2025-01-30T20:45:37.13Z" } @@ -561,10 +613,10 @@ wheels = [ [package.optional-dependencies] epath = [ - { name = "fsspec", marker = "python_full_version < '3.11'" }, - { name = "importlib-resources", marker = "python_full_version < '3.11'" }, - { name = "typing-extensions", marker = "python_full_version < '3.11'" }, - { name = "zipp", marker = "python_full_version < '3.11'" }, + { name = "fsspec", marker = "(python_full_version < '3.11' and extra == 'extra-17-plugrl-env-client-mujoco') or (python_full_version < '3.11' and extra != 'extra-17-plugrl-env-client-libero' and extra != 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extra == 'extra-17-plugrl-env-client-mujoco') or (python_full_version >= '3.11' and extra != 'extra-17-plugrl-env-client-libero' and extra != 'extra-17-plugrl-env-client-robomimic') or (extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic') or (extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco')" }, + { name = "typing-extensions", marker = "(python_full_version >= '3.11' and extra == 'extra-17-plugrl-env-client-mujoco') or (python_full_version >= '3.11' and extra != 'extra-17-plugrl-env-client-libero' and extra != 'extra-17-plugrl-env-client-robomimic') or (extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic') or (extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco')" }, + { name = "zipp", marker = "(python_full_version >= '3.11' and extra == 'extra-17-plugrl-env-client-mujoco') or (python_full_version >= '3.11' and 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"imageio" }, - { name = "mujoco" }, + { name = "mujoco", version = "3.6.0", source = { registry = "https://pypi.org/simple" } }, { name = "packaging" }, ] @@ -856,9 +908,10 @@ dependencies = [ { name = "gymnasium" }, { name = "imageio" }, { name = "jinja2" }, - { name = "mujoco" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = "numpy", version = "2.3.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { name = "mujoco", version = "2.3.7", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-17-plugrl-env-client-libero' or extra == 'extra-17-plugrl-env-client-robomimic'" }, + { name = "mujoco", version = "3.6.0", source = { registry = "https://pypi.org/simple" }, marker = "extra == 'extra-17-plugrl-env-client-mujoco' or (extra != 'extra-17-plugrl-env-client-libero' and extra != 'extra-17-plugrl-env-client-robomimic')" }, + { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11' or (extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco') or (extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic')" }, + { name = "numpy", version = "2.3.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11' or (extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco') or (extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic')" }, { name = "packaging" }, { name = "pettingzoo" }, { name = "setuptools" }, @@ -887,8 +940,8 @@ name = "h5py" version = "3.16.0" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - 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