diff --git a/README.md b/README.md index 2c59ac9..b6bfef4 100644 --- a/README.md +++ b/README.md @@ -8,17 +8,18 @@ ## ✨ Features * **No deep learning dependencies**: The policy stays on the server. The base - install declares nine runtime dependencies - `gymnasium`, `websockets` and + install declares eight runtime dependencies - `gymnasium`, `websockets` and `msgpack` do the environment and wire work, next to `loguru`, `dm-tree`, - `tyro`, `plugrl-protocol`, `pandas` and `imageio[ffmpeg]` - and none of them - is a deep learning framework, so environments pinned to old `mujoco-py` or - `cython<3` can be used with a modern training stack. E1 measures that bare - install at 30 packages and 224M on Linux with no CUDA wheels - (`plugrl-server/experiments/e1-dependency-conflict/`, round 4). Correction: - this line previously said the client needs "only `gymnasium`, `websockets` - and `msgpack`", which named three of the nine declared dependencies. - `pandas` is declared but is not imported anywhere in `src/` today - it is - weight in the install, not a requirement of the runtime. + `tyro`, `plugrl-protocol` and `imageio` - and none of them is a deep + learning framework, so environments pinned to old `mujoco-py` or + `cython<3` can be used with a modern training stack. Recording videos + needs the `video` extra, which adds ffmpeg. + Correction: this line previously said the client needs "only `gymnasium`, + `websockets` and `msgpack`", which named three of the nine then declared. + Two of those nine have since left the base install. `pandas` was never + imported, and `imageio[ffmpeg]` became `imageio`, with ffmpeg moved to + `video`. E45 measured them at 45 MB and 77 MB of the 222 MB install + (`plugrl-server/experiments/e45-env-side-footprint/`). * **Distributed communication**: `websockets` plus `msgpack` for asynchronous transfer between the server and any number of env clients, across machines. * **Modular design**: Separates the environment-side runtime (`plugrl-env-client`) from the shared protocol layer (`plugrl-protocol`). * **Command-line interface**: A `tyro`-powered CLI for starting and managing env clients. @@ -61,26 +62,41 @@ 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: - 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 + ```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. + + 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. + `video` goes with any of them. The recorder needs it for mp4 output + (`--recorder.record-video`, `--recorder.record-full-rollout`); its PNG + snapshots need only the base install. + Note: `robomimic` and `libero` pull in `egl-probe`, whose legacy CMake build needs `CMAKE_POLICY_VERSION_MINIMUM=3.5` when using CMake 4+. `uv` is configured in this repository to apply that automatically. If you install diff --git a/pyproject.toml b/pyproject.toml index 729af48..ad53af4 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -18,8 +18,9 @@ dependencies = [ "msgpack>=1.1.1,<2.0.0", "tyro>=0.9.31,<0.10.0", "plugrl-protocol @ git+https://github.com/PlugRL/plugrl-protocol.git@840296ecbe39dddc6fb9f3ac92479decac0797bd", - "pandas>=2.3.3,<3.0.0", - "imageio[ffmpeg]>=2.37.2,<3.0.0", + # The recorder's PNG snapshots. Its mp4 videos need ffmpeg: the `video` + # extra. + "imageio>=2.37.2,<3.0.0", ] [project.scripts] @@ -27,6 +28,12 @@ plugrl-run-env-client = "plugrl_env_client.cli:main" plugrl-run-worker = "plugrl_env_client.cli:main" [project.optional-dependencies] +# The recorder's videos (--recorder.record-video, --recorder.record-full-rollout). +# imageio-ffmpeg carries its own ffmpeg binary, 77 MB of an install that +# otherwise does not need it (E45). +video = [ + "imageio[ffmpeg]>=2.37.2,<3.0.0", +] # robomimic 0.3.0, the last on PyPI, imports mujoco_py in env_robosuite, and # mujoco_py needs MuJoCo 2.1 binaries and system GL headers; v0.4.0 does not, # and supports robosuite 1.2 onwards. robosuite 1.4.1 with mujoco 2.3.7 @@ -56,8 +63,12 @@ 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 +93,12 @@ 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/src/plugrl_env_client/recorder/writers.py b/src/plugrl_env_client/recorder/writers.py index 7ce295b..173d0c6 100644 --- a/src/plugrl_env_client/recorder/writers.py +++ b/src/plugrl_env_client/recorder/writers.py @@ -1,5 +1,6 @@ from __future__ import annotations +import importlib.util from pathlib import Path from typing import Any @@ -18,6 +19,26 @@ ) +def _ffmpeg_available() -> bool: + return importlib.util.find_spec("imageio_ffmpeg") is not None + + +def _video_writer(path: Path, *, fps: float): + """An mp4 writer, or an error that says which extra provides one. + + The base install keeps imageio for the PNG snapshots and leaves out + imageio-ffmpeg, which carries its own 77 MB ffmpeg binary; videos need + the `video` extra. + """ + if not _ffmpeg_available(): + raise RuntimeError( + f"Writing {path.name} needs ffmpeg, which the base install leaves " + "out. Install the `video` extra: `uv sync --extra video`, or " + "`pip install 'plugrl-env-client[video]'`." + ) + return imageio.get_writer(path, fps=fps) + + class ObservationArtifactWriter: def __init__(self, *, obs_stats_path: Path) -> None: self.obs_stats_path = obs_stats_path @@ -134,7 +155,7 @@ def write_episode_videos( continue path = images_dir / f"{key}.mp4" path.parent.mkdir(parents=True, exist_ok=True) - writer = imageio.get_writer(path, fps=self.video_fps) + writer = _video_writer(path, fps=self.video_fps) try: for frame in frames: writer.append_data(frame) @@ -147,7 +168,7 @@ def write_full_rollout_frame(self, event: FullRolloutFrameEvent) -> None: if writer is None: path = self.full_videos_dir / f"{key}.mp4" path.parent.mkdir(parents=True, exist_ok=True) - writer = imageio.get_writer(path, fps=self.video_fps) + writer = _video_writer(path, fps=self.video_fps) self._full_video_writers[key] = writer frames = np.asarray(value) grid = make_grid(np.asarray([ensure_rgb(frame) for frame in frames])) diff --git a/tests/test_cli.py b/tests/test_cli.py index 81453f9..54ad75b 100644 --- a/tests/test_cli.py +++ b/tests/test_cli.py @@ -626,6 +626,9 @@ def fake_get_writer(path, *, fps): monkeypatch.setattr( "plugrl_env_client.recorder.writers.imageio.get_writer", fake_get_writer ) + monkeypatch.setattr( + "plugrl_env_client.recorder.writers._ffmpeg_available", lambda: True + ) writer = VideoArtifactWriter(full_videos_dir=tmp_path / "full", video_fps=12) writer.write_episode_videos( images_dir=tmp_path / "sampled" / "images", @@ -633,3 +636,17 @@ def fake_get_writer(path, *, fps): ) assert calls == [(tmp_path / "sampled" / "images" / "cam.mp4", 12.0)] + + +def test_a_video_without_ffmpeg_names_the_extra(monkeypatch, tmp_path): + """The base install leaves imageio-ffmpeg out; the error says what to add.""" + monkeypatch.setattr( + "plugrl_env_client.recorder.writers._ffmpeg_available", lambda: False + ) + writer = VideoArtifactWriter(full_videos_dir=tmp_path / "full", video_fps=12) + + with pytest.raises(RuntimeError, match=r"`video` extra"): + writer.write_episode_videos( + images_dir=tmp_path / "sampled" / "images", + image_frames={"cam": [np.zeros((2, 2, 3), dtype=np.uint8)]}, + ) diff --git a/uv.lock b/uv.lock index 79658e8..64a445e 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" }, +], [ + { package = "plugrl-env-client", extra = "libero" }, + { package = "plugrl-env-client", extra = "mujoco" }, +]] [[package]] name = "absl-py" @@ -21,9 +28,9 @@ name = "ale-py" version = "0.9.0" 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'" }, - { name = "numpy", version = "2.3.2", source = { 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= "https://pypi.org/simple" } dependencies = [ - { name = "typing-extensions", marker = "python_full_version < '3.11'" }, + { name = "typing-extensions", 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')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/50/79/66800aadf48771f6b62f7eb014e352e5d06856655206165d775e675a02c9/exceptiongroup-1.3.1.tar.gz", hash = "sha256:8b412432c6055b0b7d14c310000ae93352ed6754f70fa8f7c34141f91c4e3219", size = 30371, upload-time = "2025-11-21T23:01:54.787Z" } wheels = [ @@ -805,8 +857,8 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "cloudpickle" }, { name = "gym-notices" }, - { 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 = "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')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/b8/0f/a56357a6228d93c8caa36c57f570419bdee433b9cdc644d94962ee6e2e5c/gym-0.24.1.tar.gz", hash = "sha256:9b23bbaa96ba0771a16a9f80062edb79b6f176ffdc84f39ea4645b03a8b72291", size = 696448, upload-time = "2022-06-07T21:55:01.641Z" } @@ -826,8 +878,8 @@ source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "cloudpickle" }, { name = "farama-notifications" }, - { 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 = "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 = "typing-extensions" }, ] sdist = { url = "https://files.pythonhosted.org/packages/76/59/653a9417d98ed3e29ef9734ba52c3495f6c6823b8d5c0c75369f25111708/gymnasium-1.2.3.tar.gz", hash = "sha256:2b2cb5b5fbbbdf3afb9f38ca952cc48aa6aa3e26561400d940747fda3ad42509", size = 829230, upload-time = "2025-12-18T16:51:10.234Z" } @@ -844,7 +896,7 @@ classic-control = [ ] mujoco = [ { name = "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'" }, - { name = "numpy", version = "2.3.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { 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')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/db/33/acd0ce6863b6c0d7735007df01815403f5589a21ff8c2e1ee2587a38f548/h5py-3.16.0.tar.gz", hash = "sha256:a0dbaad796840ccaa67a4c144a0d0c8080073c34c76d5a6941d6818678ef2738", size = 446526, upload-time = "2026-03-06T13:49:08.07Z" } wheels = [ @@ -1018,8 +1071,8 @@ name = "imageio" version = "2.37.3" 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'" }, - { name = "numpy", version = "2.3.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.11'" }, + { 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 = "pillow" }, ] sdist = { url = "https://files.pythonhosted.org/packages/b1/84/93bcd1300216ea50811cee96873b84a1bebf8d0489ffaf7f2a3756bab866/imageio-2.37.3.tar.gz", hash = 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}, + { name = "pexpect", marker = "(python_full_version < '3.11' and sys_platform != 'emscripten' and sys_platform != 'win32') or (python_full_version >= '3.11' and extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco') or (python_full_version >= '3.11' and extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic') or (sys_platform == 'emscripten' and extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco') or (sys_platform == 'emscripten' and extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic') or (sys_platform == 'win32' and extra == 'extra-17-plugrl-env-client-libero' and extra == 'extra-17-plugrl-env-client-mujoco') or (sys_platform == 'win32' and extra == 'extra-17-plugrl-env-client-mujoco' and extra == 'extra-17-plugrl-env-client-robomimic')" }, + { name = "prompt-toolkit", marker = "python_full_version < '3.11' or 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"1.1.1" source = { registry = "https://pypi.org/simple" } dependencies = [ - { name = "pygments", marker = "python_full_version >= '3.11'" }, + { name = "pygments", 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')" }, ] sdist = { url = "https://files.pythonhosted.org/packages/ef/4c/5dd1d8af08107f88c7f741ead7a40854b8ac24ddf9ae850afbcf698aa552/ipython_pygments_lexers-1.1.1.tar.gz", hash = "sha256:09c0138009e56b6854f9535736f4171d855c8c08a563a0dcd8022f78355c7e81", size = 8393, upload-time = "2025-01-17T11:24:34.505Z" } wheels = [ @@ -1328,8 +1381,8 @@ version = "1.0.6" source = { registry = "https://pypi.org/simple" } dependencies = [ { name = "absl-py" }, - { name = "numpy", version = "2.2.6", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.11'" }, - { name = 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