diff --git a/.github/workflows/precommit.yml b/.github/workflows/precommit.yml
index aa647795..b367f610 100644
--- a/.github/workflows/precommit.yml
+++ b/.github/workflows/precommit.yml
@@ -18,6 +18,7 @@ jobs:
- uses: prefix-dev/setup-pixi@v0.9.3
with:
pixi-version: latest
+ environments: dev-mjwarp
cache: true
# ── Stubs cache ────────────────────────────────────────────────
@@ -30,14 +31,14 @@ jobs:
- name: Generate stubs if cache miss
if: steps.typings-cache.outputs.cache-hit != 'true'
- run: pixi run -e dev pybind11-stubgen mujoco -o typings/
+ run: pixi run -e dev-mjwarp pybind11-stubgen mujoco -o typings/
# ── Linting & type checking ────────────────────────────────────
- name: Run Ruff Linter
- run: pixi run -e dev ruff check judo/ tests/ --output-format=github
+ run: pixi run -e dev-mjwarp ruff check judo/ tests/ --output-format=github
- name: Run Ruff Formatter
- run: pixi run -e dev ruff format judo/ tests/ --diff
+ run: pixi run -e dev-mjwarp ruff format judo/ tests/ --diff
- name: Run Pyright
- run: pixi run -e dev pyright
+ run: pixi run -e dev-mjwarp pyright
diff --git a/.github/workflows/test_gpu.yml b/.github/workflows/test_gpu.yml
new file mode 100644
index 00000000..280a7b3f
--- /dev/null
+++ b/.github/workflows/test_gpu.yml
@@ -0,0 +1,52 @@
+name: Test (GPU / MJWarp)
+
+# on:
+# push:
+# branches: [main]
+# pull_request:
+# branches: [main]
+
+permissions:
+ contents: read
+
+jobs:
+ test-mjwarp:
+ runs-on: github-gpu-runner
+ timeout-minutes: 30
+
+ steps:
+ - uses: actions/checkout@v6
+
+ - uses: prefix-dev/setup-pixi@v0.9.3
+ with:
+ pixi-version: latest
+ environments: dev-test-mjwarp
+ cache: true
+
+ # ── mujoco_extensions build cache ───────────────────────────────
+ - name: Restore mujoco_extensions build cache
+ id: ext-cache
+ uses: actions/cache@v5
+ with:
+ path: |
+ mujoco_extensions/build
+ mujoco_extensions/policy_rollout/*.so
+ key: mujoco-ext-gpu-${{ hashFiles('pixi.lock', 'mujoco_extensions/**/*.cpp', 'mujoco_extensions/**/*.h', 'mujoco_extensions/**/CMakeLists.txt') }}
+
+ - name: Build mujoco_extensions (cache miss)
+ if: steps.ext-cache.outputs.cache-hit != 'true'
+ run: pixi run -e dev-mjwarp build
+
+ # ── Download mesh assets (avoid xdist race) ────────────────────
+ - name: Download meshes from release
+ env:
+ GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+ run: pixi run -e dev-mjwarp python -c "from judo.utils.assets import download_and_extract_meshes; from judo import MODEL_PATH; download_and_extract_meshes(str(MODEL_PATH))"
+
+ # ── Pre-warm robot_descriptions cache (avoid xdist race) ───────
+ - name: Cache mujoco_menagerie meshes
+ run: pixi run -e dev-mjwarp python -c "from robot_descriptions import spot_mj_description"
+
+ # ── Tests ───────────────────────────────────────────────────────
+ - name: Run MPC GPU tests
+ run: pixi run -e dev-mjwarp pytest tests/test_run_mpc.py -rsx -n=1 --timeout=300
diff --git a/.gitignore b/.gitignore
index 29f239dc..9de1e035 100644
--- a/.gitignore
+++ b/.gitignore
@@ -199,3 +199,6 @@ wheelhouse/
# byproduct
meshes.zip
+
+# generated dataset
+*.h5
diff --git a/CHANGELOG.md b/CHANGELOG.md
index d83481bb..737bed82 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,16 @@
+# v0.1.0
+
+## Added
+* Added support for parallelization using MJWarp
+ * Parallel simulation backend using MJWarp
+ * GPU accelerated data collection in run_mpc
+
+## Changed
+ * Added an optional GPU test since GPU runners aren't currently available on repo
+
+## Dev
+ * Updated mujoco to `>=3.5.0` to support MJWarp
+
# v0.0.7
## Added
diff --git a/README.md b/README.md
index 4e2a7e97..d5e80997 100644
--- a/README.md
+++ b/README.md
@@ -122,6 +122,7 @@ if __name__ == "__main__":
```
To see more information about the available tasks, please refer to [the task README](judo/tasks/README.md).
+For batched MPC trajectory generation, see [run_mpc/README.md](run_mpc/README.md).
## 3. Running `judo` as a Dependency
You can easily install `judo` as a dependency in your own project. A few comments:
diff --git a/judo/controller/__init__.py b/judo/controller/__init__.py
index a723d3fb..53aaa439 100644
--- a/judo/controller/__init__.py
+++ b/judo/controller/__init__.py
@@ -1,6 +1,11 @@
# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
-from judo.controller.controller import Controller, ControllerConfig, make_controller
+from judo.controller.controller import (
+ BatchedControllers,
+ Controller,
+ ControllerConfig,
+ make_controller,
+)
from judo.controller.overrides import (
set_default_caltech_leap_cube_overrides,
set_default_cartpole_overrides,
@@ -20,6 +25,7 @@
set_default_spot_overrides()
__all__ = [
+ "BatchedControllers",
"Controller",
"ControllerConfig",
"make_controller",
diff --git a/judo/controller/batched_spot_locomotion.py b/judo/controller/batched_spot_locomotion.py
new file mode 100644
index 00000000..9531301f
--- /dev/null
+++ b/judo/controller/batched_spot_locomotion.py
@@ -0,0 +1,291 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""GPU-batched locomotion controller for Spot hierarchical control."""
+
+from pathlib import Path
+
+import numpy as np
+import onnx
+import onnxruntime as ort
+import warp as wp
+
+from judo.tasks.spot.spot_constants import (
+ ISAAC_TO_MUJOCO_INDICES_12,
+ LOCOMOTION_DEFAULT_JOINTS_OFFSET,
+ LOCOMOTION_DEFAULT_LEGS_OFFSET,
+ MUJOCO_TO_ISAAC_INDICES_19,
+ POLICY_OUTPUT_DIM,
+)
+
+
+@wp.kernel
+def build_observation_kernel(
+ qpos: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ qvel: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ cmd: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ prev_actions: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ joints_offset: wp.array(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ mj_to_isaac: wp.array(dtype=wp.int32), # pyright: ignore[reportInvalidTypeForm]
+ obs: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+) -> None:
+ """Build 84-dim observation from state, command, and previous actions.
+
+ Per-thread (one thread per batch element):
+ obs[ 0: 3] = quat_rotate_inverse(quat, lin_vel)
+ obs[ 3: 6] = angular velocity
+ obs[ 6: 9] = quat_rotate_inverse(quat, [0, 0, -1])
+ obs[ 9:34] = cmd (25 dims)
+ obs[34:53] = mujoco->isaac reordered joints - offset (19 dims)
+ obs[53:72] = mujoco->isaac reordered joint velocities (19 dims)
+ obs[72:84] = previous actions (12 dims)
+ """
+ i = wp.tid()
+
+ # Quaternion (scalar-first: w, x, y, z)
+ qw = qpos[i, 3]
+ qx = qpos[i, 4]
+ qy = qpos[i, 5]
+ qz = qpos[i, 6]
+
+ ww = qw * qw
+ xx = qx * qx
+ yy = qy * qy
+ zz = qz * qz
+ wx = qw * qx
+ wy = qw * qy
+ wz = qw * qz
+ xy = qx * qy
+ xz = qx * qz
+ yz = qy * qz
+
+ # quat_rotate_inverse(quat, lin_vel) -> obs[0:3]
+ vx = qvel[i, 0]
+ vy = qvel[i, 1]
+ vz = qvel[i, 2]
+ obs[i, 0] = (ww + xx - yy - zz) * vx + 2.0 * (xy + wz) * vy + 2.0 * (xz - wy) * vz
+ obs[i, 1] = 2.0 * (xy - wz) * vx + (ww - xx + yy - zz) * vy + 2.0 * (yz + wx) * vz
+ obs[i, 2] = 2.0 * (xz + wy) * vx + 2.0 * (yz - wx) * vy + (ww - xx - yy + zz) * vz
+
+ # Angular velocity -> obs[3:6]
+ obs[i, 3] = qvel[i, 3]
+ obs[i, 4] = qvel[i, 4]
+ obs[i, 5] = qvel[i, 5]
+
+ # quat_rotate_inverse(quat, [0, 0, -1]) -> obs[6:9]
+ obs[i, 6] = -2.0 * (xz - wy)
+ obs[i, 7] = -2.0 * (yz + wx)
+ obs[i, 8] = -(ww - xx - yy + zz)
+
+ # Command (25 dims) -> obs[9:34]
+ for j in range(25):
+ obs[i, 9 + j] = cmd[i, j]
+
+ # Mujoco->Isaac reorder + offset subtraction for joints -> obs[34:53]
+ for j in range(19):
+ idx = mj_to_isaac[j]
+ obs[i, 34 + j] = qpos[i, 7 + idx] - joints_offset[j]
+
+ # Mujoco->Isaac reorder for joint velocities -> obs[53:72]
+ for j in range(19):
+ idx = mj_to_isaac[j]
+ obs[i, 53 + j] = qvel[i, 6 + idx]
+
+ # Previous actions -> obs[72:84]
+ for j in range(12):
+ obs[i, 72 + j] = prev_actions[i, j]
+
+
+@wp.kernel
+def compute_targets_kernel(
+ actions: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ cmd: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ legs_offset: wp.array(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ isaac_to_mj: wp.array(dtype=wp.int32), # pyright: ignore[reportInvalidTypeForm]
+ action_scale: float,
+ target_q: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+) -> None:
+ """Post-process policy actions into 19-dim target_q.
+
+ Per-thread:
+ 1. Scale actions and apply offset, then isaac->mujoco reorder for legs
+ 2. Per-leg override: if any of 3 cmd joints != 0, use cmd instead
+ 3. Arm passthrough: target_q[12:19] = cmd[3:10]
+ """
+ i = wp.tid()
+
+ # Scale + offset + isaac->mujoco reorder for legs
+ # _isaac_to_mujoco_batch: output[k] = input[ISAAC_TO_MUJOCO_INDICES_12[k]]
+ for k in range(12):
+ j = isaac_to_mj[k]
+ target_q[i, k] = actions[i, j] * action_scale + legs_offset[j]
+
+ # Per-leg override: if any of 3 cmd joints are nonzero, use cmd
+ # leg_joint_command = cmd[:, 10:22]
+ for leg in range(4):
+ any_nonzero = int(0)
+ for dof in range(3):
+ if cmd[i, 10 + leg * 3 + dof] != 0.0:
+ any_nonzero = 1
+ if any_nonzero == 1:
+ for dof in range(3):
+ target_q[i, leg * 3 + dof] = cmd[i, 10 + leg * 3 + dof]
+
+ # Arm passthrough: target_q[12:19] = cmd[3:10]
+ for j in range(7):
+ target_q[i, 12 + j] = cmd[i, 3 + j]
+
+
+class BatchedSpotLocomotion:
+ """Batched GPU-accelerated locomotion controller for Spot.
+
+ This controller implements the learned locomotion policy that converts
+ high-level commands to target joint positions.
+
+ The controller:
+ - Takes high-level commands (base velocity, arm/leg positions) from MPC
+ - Runs learned locomotion policy at ~56Hz
+ - Produces target joint positions for PD control
+ """
+
+ def __init__(
+ self,
+ model_path: str | Path,
+ device: str = "cuda:0",
+ action_scale: float = 0.2,
+ ) -> None:
+ """Initialize the batched locomotion controller.
+
+ Args:
+ model_path: Path to the pre-trained locomotion policy (.onnx file).
+ device: The warp device string (e.g. "cuda:0").
+ action_scale: Scaling factor for the action. Defaults to 0.2.
+ """
+ self._device = device
+ self.action_scale = action_scale
+
+ # Parse device string to get CUDA device id
+ if ":" in device:
+ self._device_id = int(device.split(":")[1])
+ else:
+ self._device_id = 0
+
+ # Load ONNX model and make batch dimension dynamic (on-disk file
+ # keeps batch=1 for the C++ rollout code; Python needs dynamic batch).
+ onnx_model = onnx.load(str(model_path))
+ for tensor in list(onnx_model.graph.input) + list(onnx_model.graph.output):
+ tensor.type.tensor_type.shape.dim[0].ClearField("dim_value")
+ tensor.type.tensor_type.shape.dim[0].dim_param = "batch"
+
+ self._ort_session = ort.InferenceSession(
+ onnx_model.SerializeToString(),
+ providers=[("CUDAExecutionProvider", {"device_id": self._device_id})],
+ )
+ self._ort_input_name = self._ort_session.get_inputs()[0].name
+ self._ort_output_name = self._ort_session.get_outputs()[0].name
+
+ # Constant arrays on GPU
+ self._joints_offset = wp.array(
+ np.array(LOCOMOTION_DEFAULT_JOINTS_OFFSET, dtype=np.float32),
+ dtype=wp.float32,
+ device=device,
+ )
+ self._legs_offset = wp.array(
+ np.array(LOCOMOTION_DEFAULT_LEGS_OFFSET, dtype=np.float32),
+ dtype=wp.float32,
+ device=device,
+ )
+ self._mj_to_isaac = wp.array(
+ np.array(MUJOCO_TO_ISAAC_INDICES_19, dtype=np.int32),
+ dtype=wp.int32,
+ device=device,
+ )
+ self._isaac_to_mj = wp.array(
+ np.array(ISAAC_TO_MUJOCO_INDICES_12, dtype=np.int32),
+ dtype=wp.int32,
+ device=device,
+ )
+
+ def _run_policy(self, obs: wp.array, actions: wp.array) -> None:
+ """Run the locomotion policy via ONNX Runtime with GPU I/O binding.
+
+ Writes ORT output directly into the pre-allocated ``actions`` warp array.
+
+ Args:
+ obs: Observation array on GPU (batch_size, 84).
+ actions: Pre-allocated output array on GPU (batch_size, POLICY_OUTPUT_DIM).
+ """
+ io_binding = self._ort_session.io_binding()
+ io_binding.bind_input(
+ name=self._ort_input_name,
+ device_type="cuda",
+ device_id=self._device_id,
+ element_type=np.float32,
+ shape=tuple(obs.shape),
+ buffer_ptr=obs.ptr,
+ )
+ io_binding.bind_output(
+ name=self._ort_output_name,
+ device_type="cuda",
+ device_id=self._device_id,
+ element_type=np.float32,
+ shape=tuple(actions.shape),
+ buffer_ptr=actions.ptr,
+ )
+ self._ort_session.run_with_iobinding(io_binding)
+
+ def compute_batch(
+ self,
+ cmd: wp.array,
+ qpos: wp.array,
+ qvel: wp.array,
+ previous_actions: wp.array | None,
+ ) -> tuple[wp.array, wp.array]:
+ """Get target joint positions from high-level command (batched interface).
+
+ Args:
+ cmd: High-level command (batch_size, 25).
+ qpos: Joint positions (batch_size, nq).
+ qvel: Joint velocities (batch_size, nv).
+ previous_actions: Previous actions (batch_size, POLICY_OUTPUT_DIM) or None.
+
+ Returns:
+ Tuple of (target_q, new_previous_actions) as warp arrays.
+ """
+ batch_size = cmd.shape[0]
+
+ if previous_actions is None:
+ previous_actions = wp.zeros((batch_size, POLICY_OUTPUT_DIM), dtype=wp.float32, device=self._device)
+
+ obs = wp.zeros((batch_size, 84), dtype=wp.float32, device=self._device)
+ wp.launch(
+ build_observation_kernel,
+ dim=batch_size,
+ inputs=[qpos, qvel, cmd, previous_actions, self._joints_offset, self._mj_to_isaac],
+ outputs=[obs],
+ device=self._device,
+ )
+
+ # Ensure observation kernel completes before ORT reads the buffer
+ wp.synchronize()
+
+ actions = wp.zeros((batch_size, POLICY_OUTPUT_DIM), dtype=wp.float32, device=self._device)
+ self._run_policy(obs, actions)
+
+ target_q = wp.zeros((batch_size, 19), dtype=wp.float32, device=self._device)
+ wp.launch(
+ compute_targets_kernel,
+ dim=batch_size,
+ inputs=[actions, cmd, self._legs_offset, self._isaac_to_mj, self.action_scale],
+ outputs=[target_q],
+ device=self._device,
+ )
+
+ return target_q, actions
+
+ def reset(self) -> None:
+ """Reset internal state (no-op since previous_actions is now external)."""
+
+ @property
+ def target_frequency(self) -> float:
+ """Returns the target frequency of the low-level controller."""
+ return 50.0 # Hz
diff --git a/judo/controller/controller.py b/judo/controller/controller.py
index 2c07b1e8..fc25fb94 100644
--- a/judo/controller/controller.py
+++ b/judo/controller/controller.py
@@ -1,10 +1,12 @@
# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+import copy
import warnings
from dataclasses import dataclass
-from typing import Literal
+from typing import TYPE_CHECKING, Literal
import numpy as np
+from mujoco import MjData
from omegaconf import DictConfig
from scipy.interpolate import interp1d
@@ -14,7 +16,6 @@
from judo.gui import slider
from judo.optimizers import Optimizer, OptimizerConfig, get_registered_optimizers
from judo.tasks import Task, TaskConfig, get_registered_tasks
-from judo.tasks.spot.spot_constants import POLICY_OUTPUT_DIM
from judo.utils.mj_rollout_backend import MJRolloutBackend
from judo.utils.normalization import (
IdentityNormalizer,
@@ -24,7 +25,11 @@
normalizer_registry,
)
from judo.utils.policy_mj_rollout_backend import PolicyMJRolloutBackend
+
+if TYPE_CHECKING:
+ from judo.utils.mjwarp_rollout_backend import MJWarpRolloutBackend
from judo.utils.rollout_backend import RolloutBackend
+from judo.utils.timer import Timer
from judo.visualizers.utils import get_trace_sensors
@@ -50,7 +55,7 @@ def __init__(
controller_config: ControllerConfig,
task: Task,
optimizer: Optimizer,
- rollout_backend: Literal["mujoco"] = "mujoco",
+ rollout_backend: "Literal['mujoco'] | MJWarpRolloutBackend" = "mujoco",
) -> None:
"""Initialize the controller.
@@ -58,7 +63,8 @@ def __init__(
controller_config: The controller configuration.
task: The task to use.
optimizer: The optimizer to use.
- rollout_backend: The backend to use for rollouts. Currently only "mujoco" is supported.
+ rollout_backend: The backend to use for rollouts. Either "mujoco" to create
+ a new CPU backend, or an existing RolloutBackend instance (e.g. GPU warp).
"""
self._controller_cfg = controller_config
self.task = task
@@ -70,7 +76,10 @@ def __init__(
self.model = self.task.model
# Initialize rollout backend (auto-select policy backend if task requires it)
- if self.task.uses_locomotion_policy:
+ if not isinstance(rollout_backend, str):
+ # MJWarpRolloutBackend instance (avoid isinstance check to skip mujoco_warp import)
+ self.rollout_backend = rollout_backend
+ elif self.task.uses_locomotion_policy:
assert self.task.locomotion_policy_path is not None
self.rollout_backend: RolloutBackend = PolicyMJRolloutBackend(
model=self.model,
@@ -83,9 +92,8 @@ def __init__(
model=self.model,
num_threads=self.optimizer_cfg.num_rollouts,
)
- self._last_policy_output = (
- np.zeros((self.optimizer_cfg.num_rollouts, POLICY_OUTPUT_DIM)) if self.task.uses_locomotion_policy else None
- )
+
+ self._last_policy_output = None
self.action_normalizer = self._init_action_normalizer()
# a container for any metadata from the system that we want to pass to the task
@@ -208,7 +216,39 @@ def controller_cfg(self, controller_cfg: ControllerConfig) -> None:
self.action_normalizer = self._init_action_normalizer()
def update_action(self) -> None:
- """Abstract method for updating controller actions from current state/time."""
+ """Update controller actions from current state/time.
+
+ This method runs the full optimization loop for a single controller.
+ For batched multi-controller optimization, use BatchedControllers instead.
+ """
+ self._pre_optimization()
+
+ # run optimization loop
+ i = 0
+ while i < self.max_opt_iters and not self.optimizer.stop_cond():
+ self.rollout_controls = self._sample_controls()
+ self._pre_rollout()
+
+ # Convert task-space controls to sim-space for rollout backend
+ sim_controls = self.task.task_to_sim_ctrl(self.rollout_controls)
+
+ # Roll out dynamics
+ self.states, self.sensors, policy_output = self.rollout_backend.rollout(
+ self.current_state,
+ sim_controls,
+ self._last_policy_output,
+ )
+ if policy_output is not None:
+ self._last_policy_output = policy_output
+
+ self._post_rollout()
+ self._update_iteration()
+ i += 1
+
+ self._post_optimization()
+
+ def _pre_optimization(self) -> None:
+ """Setup phase before optimization loop. Called once per update_action."""
assert self.current_state.shape == (self.model.nq + self.model.nv,), "Current state must be of shape (nq + nv,)"
assert self.optimizer_cfg.num_rollouts > 0, "Need at least one rollout!"
@@ -217,15 +257,20 @@ def update_action(self) -> None:
self.optimizer_cfg.num_nodes = 4
# Adjust time + move policy forward.
- new_times = self.time + self.spline_timesteps
- nominal_knots = self.spline(new_times)
- nominal_knots_normalized = self.action_normalizer.normalize(nominal_knots)
+ self._new_times = self.time + self.spline_timesteps
+ nominal_knots = self.spline(self._new_times)
+ self._nominal_knots_normalized = self.action_normalizer.normalize(nominal_knots)
- # resizing any variables due to changes in the GUI
+ # Resizing rollout backend due to changes in num_rollouts (e.g., from GUI)
if self.rollout_backend.num_threads != self.optimizer_cfg.num_rollouts:
- self.rollout_backend.update(self.optimizer_cfg.num_rollouts)
+ # Preserve num_problems when updating shared backend (warp), or just num_threads (CPU)
+ num_problems = getattr(self.rollout_backend, "num_problems", None)
+ if num_problems is not None:
+ self.rollout_backend.update(self.optimizer_cfg.num_rollouts, num_problems) # type: ignore[call-arg]
+ else:
+ self.rollout_backend.update(self.optimizer_cfg.num_rollouts)
if self._last_policy_output is not None:
- self._last_policy_output = np.zeros((self.optimizer_cfg.num_rollouts, POLICY_OUTPUT_DIM))
+ self._last_policy_output = None
normalizer_cls = normalizer_registry.get(self.action_normalizer_type)
if normalizer_cls is None:
@@ -243,58 +288,57 @@ def update_action(self) -> None:
self.action_normalizer = self._init_action_normalizer()
# call entrypoint prior to optimization
- self.optimizer.pre_optimization(self.times, new_times)
-
- # run optimization loop
- i = 0
- while i < self.max_opt_iters and not self.optimizer.stop_cond():
- # sample controls and clamp to action bounds
- candidate_knots_normalized = self.optimizer.sample_control_knots(nominal_knots_normalized)
- candidate_knots_normalized = np.clip(
- candidate_knots_normalized,
- self.action_normalizer.normalize(self.task.actuator_ctrlrange[:, 0]),
- self.action_normalizer.normalize(self.task.actuator_ctrlrange[:, 1]),
- )
- self.candidate_knots = self.action_normalizer.denormalize(candidate_knots_normalized)
-
- # Evaluate rollout controls at sim timesteps.
- candidate_splines = make_spline(new_times, self.candidate_knots, self.spline_order)
- self.rollout_controls = candidate_splines(self.time + self.rollout_times)
-
- # Roll out dynamics with action sequences.
- self.task.pre_rollout(self.current_state)
- sim_controls = self.task.task_to_sim_ctrl(self.rollout_controls)
- self.states, self.sensors, policy_output = self.rollout_backend.rollout(
- self.current_state,
- sim_controls,
- self._last_policy_output,
- )
- if policy_output is not None:
- self._last_policy_output = policy_output
- self.task.post_rollout(
- self.states,
- self.sensors,
- self.rollout_controls,
- self.system_metadata,
- )
- self.rewards = self.task.reward(
- self.states,
- self.sensors,
- self.rollout_controls,
- self.system_metadata,
- )
-
- # Update nominal knots for next optimization iteration
- nominal_knots_normalized = self.optimizer.update_nominal_knots(candidate_knots_normalized, self.rewards)
-
- # Update action normalizer
- self.action_normalizer.update(self.candidate_knots)
+ self.optimizer.pre_optimization(self.times, self._new_times)
+
+ def _sample_controls(self) -> np.ndarray:
+ """Sample control knots and prepare rollout controls for this iteration."""
+ # sample controls and clamp to action bounds
+ self._candidate_knots_normalized = self.optimizer.sample_control_knots(self._nominal_knots_normalized)
+ self._candidate_knots_normalized = np.clip(
+ self._candidate_knots_normalized,
+ self.action_normalizer.normalize(self.task.actuator_ctrlrange[:, 0]),
+ self.action_normalizer.normalize(self.task.actuator_ctrlrange[:, 1]),
+ )
+ self.candidate_knots = self.action_normalizer.denormalize(self._candidate_knots_normalized)
+
+ # Evaluate rollout controls at sim timesteps.
+ candidate_splines = make_spline(self._new_times, self.candidate_knots, self.spline_order)
+ rollout_controls = candidate_splines(self.time + self.rollout_times)
+ return rollout_controls
+
+ def _pre_rollout(self) -> None:
+ """Pre-rollout phase: prepare task for rollout."""
+ self.task.pre_rollout(self.current_state)
+
+ def _post_rollout(self) -> None:
+ """Post-rollout phase: process rollout results and compute rewards."""
+ self.task.post_rollout(
+ self.states,
+ self.sensors,
+ self.rollout_controls,
+ self.system_metadata,
+ )
+ self.rewards = self.task.reward(
+ self.states,
+ self.sensors,
+ self.rollout_controls,
+ self.system_metadata,
+ )
- i += 1
+ def _update_iteration(self) -> None:
+ """Update phase: update nominal knots and normalizer for next iteration."""
+ # Update nominal knots for next optimization iteration
+ self._nominal_knots_normalized = self.optimizer.update_nominal_knots(
+ self._candidate_knots_normalized, self.rewards
+ )
+ # Update action normalizer
+ self.action_normalizer.update(self.candidate_knots)
+ def _post_optimization(self) -> None:
+ """Finalization phase after optimization loop. Called once per update_action."""
# Update nominal controls and spline.
- self.nominal_knots = self.action_normalizer.denormalize(nominal_knots_normalized)
- self.times = new_times
+ self.nominal_knots = self.action_normalizer.denormalize(self._nominal_knots_normalized)
+ self.times = self._new_times
self.update_spline(self.times, self.nominal_knots)
self.update_traces()
@@ -302,6 +346,17 @@ def action(self, time: float) -> np.ndarray:
"""Current best action of policy."""
return self.spline(time)
+ def compute(self, data: MjData) -> np.ndarray:
+ """Compute control action for given MjData state.
+
+ Args:
+ data: MuJoCo data object with current state.
+
+ Returns:
+ Control action at the current time.
+ """
+ return self.action(data.time)
+
def update_spline(self, times: np.ndarray, controls: np.ndarray) -> None:
"""Update the spline with new timesteps / controls."""
self.spline = make_spline(times, controls, self.spline_order)
@@ -318,7 +373,7 @@ def reset(self) -> None:
self.update_spline(self.times, self.nominal_knots)
# Reset policy output state for locomotion policy tasks
if self.task.uses_locomotion_policy:
- self._last_policy_output = np.zeros((self.optimizer_cfg.num_rollouts, POLICY_OUTPUT_DIM))
+ self._last_policy_output = None
def update_traces(self) -> None:
"""Update traces by extracting data from sensors readings.
@@ -379,6 +434,207 @@ def _init_action_normalizer(self) -> Normalizer:
return make_normalizer(self.action_normalizer_type, self.model.nu, **action_normalizer_kwargs)
+class BatchedControllers:
+ """Coordinates multiple controllers sharing a single RolloutBackend.
+
+ This class manages batched rollouts across multiple controllers, executing
+ a single GPU rollout for all controllers at each optimization iteration.
+
+ Usage:
+ # Create shared backend with num_threads per problem and num_problems
+ num_rollouts = 64 # rollouts per controller
+ num_problems = 3 # number of controllers
+ backend = RolloutBackend(model, num_threads=num_rollouts, num_problems=num_problems)
+
+ # Create batched controller coordinator
+ batched = BatchedControllers(config, task, optimizer, backend)
+
+ # Update all controllers with batched rollouts
+ batched.update_action()
+ """
+
+ def __init__(
+ self,
+ controller_config: ControllerConfig,
+ task: Task,
+ optimizer: Optimizer,
+ rollout_backend: "MJWarpRolloutBackend",
+ ) -> None:
+ """Initialize the batched controllers.
+
+ Args:
+ controller_config: Configuration for all controllers.
+ task: Template task instance (new instances created from its class and model_path).
+ optimizer: Template optimizer instance (deep copied for each controller).
+ rollout_backend: The shared WarpRolloutBackend instance. Should be initialized with
+ num_problems equal to len(controllers).
+ """
+ self.num_problems = rollout_backend.num_problems
+ self.controllers = []
+ for _ in range(self.num_problems):
+ new_task = task.__class__(model_path=task.model_path)
+ new_task.config = copy.deepcopy(task.config)
+ controller = Controller(
+ controller_config=controller_config,
+ task=new_task,
+ optimizer=copy.deepcopy(optimizer),
+ rollout_backend=rollout_backend,
+ )
+ self.controllers.append(controller)
+ self.rollout_backend = rollout_backend
+
+ # Validate that all controllers use the shared backend
+ for i, ctrl in enumerate(self.controllers):
+ if ctrl.rollout_backend is not rollout_backend:
+ raise ValueError(
+ f"Controller {i} does not use the shared rollout_backend. "
+ "All controllers must share the same RolloutBackend instance."
+ )
+
+ # Validate num_problems matches number of controllers
+ if rollout_backend.num_problems != len(self.controllers):
+ raise ValueError(
+ f"RolloutBackend num_problems ({rollout_backend.num_problems}) does not match "
+ f"number of controllers ({len(self.controllers)}). "
+ f"Initialize backend with num_problems={len(self.controllers)}."
+ )
+
+ # Initialize timers for update_action() breakdown
+ self.timer_sample_controls = Timer("Sample Controls", unit="ms")
+ self.timer_rollout = Timer("Batched Rollout", unit="ms")
+ self.timer_rewards = Timer("Rewards ", unit="ms")
+ self.timer_update_iter = Timer("Update Iter ", unit="ms")
+ self.timer_post_opt = Timer("Post Opt ", unit="ms")
+
+ # Policy output state for hierarchical control (warp array, kept on GPU between rollouts)
+ self._last_policy_output = None
+
+ def update_action(self) -> None:
+ """Update all controllers with coordinated batched rollouts.
+
+ This method runs the optimization loop across all controllers,
+ batching their rollouts into a single GPU execution per iteration.
+ """
+ # Pre-optimization for all controllers
+ for ctrl in self.controllers:
+ ctrl._pre_optimization()
+
+ # Run optimization loop - all controllers iterate together
+ max_iters = min(ctrl.max_opt_iters for ctrl in self.controllers)
+ for _ in range(max_iters):
+ # Sample controls for all controllers
+ self.timer_sample_controls.tic()
+ for ctrl in self.controllers:
+ ctrl.rollout_controls = ctrl._sample_controls()
+ self.timer_sample_controls.toc()
+
+ # Pre-rollout for all controllers
+ for ctrl in self.controllers:
+ ctrl._pre_rollout()
+
+ # Execute batched rollout for all controllers
+ self.timer_rollout.tic()
+ self._execute_batched_rollout()
+ self.timer_rollout.toc()
+
+ # Post-rollout (compute rewards) for all controllers
+ self.timer_rewards.tic()
+ for ctrl in self.controllers:
+ ctrl._post_rollout()
+ self.timer_rewards.toc()
+
+ # Update iteration for all controllers
+ self.timer_update_iter.tic()
+ for ctrl in self.controllers:
+ ctrl._update_iteration()
+ self.timer_update_iter.toc()
+
+ # Post-optimization for all controllers
+ self.timer_post_opt.tic()
+ for ctrl in self.controllers:
+ ctrl._post_optimization()
+ self.timer_post_opt.toc()
+
+ def _execute_batched_rollout(self) -> None:
+ """Execute a single batched rollout for all controllers."""
+ # Collect x0 from all controllers: shape (num_problems, x0_dim)
+ x0_stacked = np.stack([ctrl.current_state for ctrl in self.controllers], axis=0)
+
+ # Convert task-space controls to sim-space, then batch: shape (num_problems * num_threads, horizon, model.nu)
+ controls_batched = np.concatenate(
+ [ctrl.task.task_to_sim_ctrl(ctrl.rollout_controls) for ctrl in self.controllers], axis=0
+ )
+
+ # Execute the batched rollout (policy output tensor is passed through directly)
+ all_states, all_sensors, self._last_policy_output = self.rollout_backend.rollout(
+ x0_stacked,
+ controls_batched,
+ self._last_policy_output,
+ )
+
+ # Distribute states/sensors back to each controller
+ num_threads = self.rollout_backend.num_threads
+ for i, ctrl in enumerate(self.controllers):
+ start_idx = i * num_threads
+ end_idx = (i + 1) * num_threads
+ ctrl.states = all_states[start_idx:end_idx]
+ ctrl.sensors = all_sensors[start_idx:end_idx]
+
+ def reset(self) -> None:
+ """Reset all controllers."""
+ for ctrl in self.controllers:
+ ctrl.reset()
+ self._last_policy_output = None
+
+ def print_timer_stats(self) -> None:
+ """Print timing statistics for update_action() breakdown."""
+ self.timer_sample_controls.print_stats()
+ self.timer_rollout.print_stats()
+ self.timer_rewards.print_stats()
+ self.timer_update_iter.print_stats()
+ self.timer_post_opt.print_stats()
+ if hasattr(self.rollout_backend, "print_timer_stats"):
+ self.rollout_backend.print_timer_stats()
+
+ def reset_timers(self) -> None:
+ """Reset all timers."""
+ self.timer_sample_controls.reset()
+ self.timer_rollout.reset()
+ self.timer_rewards.reset()
+ self.timer_update_iter.reset()
+ self.timer_post_opt.reset()
+ if hasattr(self.rollout_backend, "reset_timers"):
+ self.rollout_backend.reset_timers()
+
+ def update_states(self, state_msgs: list) -> None:
+ """Update states for all controllers.
+
+ Args:
+ state_msgs: List of MujocoState messages, one per controller.
+ """
+ if len(state_msgs) != len(self.controllers):
+ raise ValueError(f"Expected {len(self.controllers)} state messages, got {len(state_msgs)}")
+ for ctrl, state_msg in zip(self.controllers, state_msgs, strict=False):
+ ctrl.update_states(state_msg)
+
+ def set_init_previous_actions(self, previous_actions_list: list[np.ndarray | None]) -> None:
+ """Sync previous_actions from sims to the batched policy output state.
+
+ Broadcasts per-problem actions to all threads.
+
+ Args:
+ previous_actions_list: List of previous actions arrays, one per controller/problem.
+ """
+ if all(pa is None for pa in previous_actions_list):
+ self._last_policy_output = None
+ else:
+ pa_np = np.stack([pa for pa in previous_actions_list if pa is not None], axis=0)
+ pa_broadcast = np.repeat(pa_np, self.rollout_backend.num_threads, axis=0)
+ import warp as wp # noqa: PLC0415
+
+ self._last_policy_output = wp.array(pa_broadcast, dtype=wp.float32, device=self.rollout_backend.device)
+
+
def make_spline(times: np.ndarray, controls: np.ndarray, spline_order: str) -> interp1d:
"""Helper function for creating spline objects.
@@ -406,9 +662,21 @@ def make_controller(
init_optimizer: str,
task_registration_cfg: DictConfig | None = None,
optimizer_registration_cfg: DictConfig | None = None,
- rollout_backend: Literal["mujoco"] = "mujoco",
+ rollout_backend: "Literal['mujoco'] | MJWarpRolloutBackend" = "mujoco",
) -> Controller:
- """Make a controller."""
+ """Make a controller.
+
+ Args:
+ init_task: The task name to use.
+ init_optimizer: The optimizer name to use.
+ task_registration_cfg: Optional task registration config.
+ optimizer_registration_cfg: Optional optimizer registration config.
+ rollout_backend: Either a backend type string ("mujoco") to create a new backend,
+ or an existing WarpRolloutBackend instance to share with other controllers.
+
+ Returns:
+ The created Controller instance.
+ """
available_optimizers = get_registered_optimizers()
available_tasks = get_registered_tasks()
if task_registration_cfg is not None:
diff --git a/judo/models/policies/spot_locomotion.pt b/judo/models/policies/spot_locomotion.pt
new file mode 100644
index 00000000..8671e736
Binary files /dev/null and b/judo/models/policies/spot_locomotion.pt differ
diff --git a/judo/models/xml/cylinder_push.xml b/judo/models/xml/cylinder_push.xml
index 1e75e2fb..bcedcaa6 100644
--- a/judo/models/xml/cylinder_push.xml
+++ b/judo/models/xml/cylinder_push.xml
@@ -20,14 +20,16 @@
-
+
+
-
+
+
diff --git a/judo/tasks/base.py b/judo/tasks/base.py
index 02d4ff4d..016b5ebb 100644
--- a/judo/tasks/base.py
+++ b/judo/tasks/base.py
@@ -108,6 +108,10 @@ def reset(self) -> None:
self.data.qvel = np.zeros_like(self.data.qvel)
mujoco.mj_forward(self.model, self.data)
+ def success(self, model: MjModel, data: MjData, metadata: dict[str, Any] | None = None) -> bool:
+ """Check if the task was completed successfully. Override in subclasses."""
+ return False
+
@property
def physics_substeps(self) -> int:
"""Number of physics steps per control step."""
diff --git a/judo/tasks/cylinder_push.py b/judo/tasks/cylinder_push.py
index be6e554a..c857ce1d 100644
--- a/judo/tasks/cylinder_push.py
+++ b/judo/tasks/cylinder_push.py
@@ -13,6 +13,7 @@
from judo.utils.fields import np_1d_field
XML_PATH = str(MODEL_PATH / "xml/cylinder_push.xml")
+GOAL_DISTANCE_THRESHOLD = 0.3
@slider("w_pusher_proximity", 0.0, 5.0, 0.1)
@@ -92,6 +93,12 @@ def reward(
return pusher_reward + velocity_reward + goal_reward
+ def success(self, model: mujoco.MjModel, data: mujoco.MjData, metadata: dict[str, Any] | None = None) -> bool:
+ """Check if the cart is close to the goal position."""
+ cart_pos = data.qpos[2:4]
+ goal_pos = self.config.goal_pos[0:2]
+ return bool(np.linalg.norm(cart_pos - goal_pos) < GOAL_DISTANCE_THRESHOLD)
+
def reset(self) -> None:
"""Resets the model to a default (random) state."""
theta = 2 * np.pi * np.random.rand(2)
diff --git a/judo/tasks/spot/spot_base.py b/judo/tasks/spot/spot_base.py
index 87e55630..1a4e83c3 100644
--- a/judo/tasks/spot/spot_base.py
+++ b/judo/tasks/spot/spot_base.py
@@ -12,6 +12,7 @@
import mujoco
import numpy as np
+from mujoco import MjData, MjModel
from judo import MODEL_PATH
from judo.tasks.base import Task, TaskConfig
@@ -160,6 +161,7 @@ def __init__(
[0, 0, 0] + list(ARM_STOWED_POS) + [0] * 12 + [0, 0, STANDING_HEIGHT_CMD]
)
+ self.body_pose_idx = self.get_joint_position_start_index("base")
self.reset()
@property
@@ -434,6 +436,15 @@ def reset_pose(self) -> np.ndarray:
]
)
+ def optimizer_warm_start(self) -> np.ndarray:
+ """Warm start from default command (arm unstowed, legs standing)."""
+ return self.default_command.copy()
+
+ def success(self, model: MjModel, data: MjData, metadata: dict[str, Any] | None = None) -> bool:
+ """Check that Spot is still standing. Subclasses should AND with super().success()."""
+ body_height = data.qpos[self.body_pose_idx + 2]
+ return bool(body_height > self.config.spot_fallen_threshold)
+
def reset(self) -> None:
"""Reset the simulation to the default pose."""
self.data.qpos[:] = self.reset_pose
diff --git a/judo/tasks/spot/spot_box_push.py b/judo/tasks/spot/spot_box_push.py
index 12f38085..57519e4a 100644
--- a/judo/tasks/spot/spot_box_push.py
+++ b/judo/tasks/spot/spot_box_push.py
@@ -9,6 +9,7 @@
from typing import Any
import numpy as np
+from mujoco import MjData, MjModel
from judo import MODEL_PATH
from judo.tasks.spot.spot_base import SpotBase, SpotBaseConfig
@@ -32,12 +33,13 @@ class SpotBoxPushConfig(SpotBaseConfig):
orientation_threshold: float = 0.5
fall_penalty: float = 2500.0
w_controls: float = 0.0
- goal_position: np.ndarray = np_1d_field(
+ goal_distance_threshold: float = 0.5
+ goal_pos: np.ndarray = np_1d_field(
np.array([0.0, 0.0, BOX_HALF_LENGTH]),
names=["x", "y", "z"],
mins=[-5.0, -5.0, 0.0],
maxs=[5.0, 5.0, 3.0],
- vis_name="goal_position",
+ vis_name="goal_pos",
xyz_vis_indices=[0, 1, None],
)
@@ -51,10 +53,11 @@ class SpotBoxPush(SpotBase[SpotBoxPushConfig]):
def __init__(
self,
+ model_path: str = XML_PATH,
config: SpotBoxPushConfig | None = None,
) -> None:
"""Initialize the SpotBoxPush task."""
- super().__init__(model_path=XML_PATH, use_arm=True, config=config)
+ super().__init__(model_path=model_path, use_arm=True, config=config)
self.body_pose_idx = self.get_joint_position_start_index("base")
self.object_pose_idx = self.get_joint_position_start_index("box_joint")
self.object_y_axis_idx = self.get_sensor_start_index("object_y_axis")
@@ -79,9 +82,9 @@ def reward(
spot_fallen_reward = -self.config.fall_penalty * (body_height <= self.config.spot_fallen_threshold).any(axis=-1)
- goal_reward = -self.config.w_goal * np.linalg.norm(
- object_pos - self.config.goal_position[None, None], axis=-1
- ).mean(-1)
+ goal_reward = -self.config.w_goal * np.linalg.norm(object_pos - self.config.goal_pos[None, None], axis=-1).mean(
+ -1
+ )
box_orientation_reward = -self.config.w_orientation * np.abs(
np.dot(object_y_axis, Z_AXIS) > self.config.orientation_threshold
@@ -105,6 +108,12 @@ def reward(
+ controls_reward
)
+ def success(self, model: MjModel, data: MjData, metadata: dict[str, Any] | None = None) -> bool:
+ """Check if the box reached the goal and Spot is still standing."""
+ object_pos = data.qpos[self.object_pose_idx : self.object_pose_idx + 3]
+ at_goal = np.linalg.norm(object_pos - self.config.goal_pos) <= self.config.goal_distance_threshold
+ return bool(at_goal and super().success(model, data, metadata))
+
@property
def reset_pose(self) -> np.ndarray:
"""Reset pose for the box push task."""
diff --git a/judo/tasks/spot/spot_constants.py b/judo/tasks/spot/spot_constants.py
index 88f2bac6..017bb5f2 100644
--- a/judo/tasks/spot/spot_constants.py
+++ b/judo/tasks/spot/spot_constants.py
@@ -101,6 +101,41 @@
ARM_SOFT_LOWER_JOINT_LIMITS = ARM_UNSTOWED_POS - np.array([1.0, 1.0, 0.8, np.pi / 2, 0.7, np.pi / 4, 0])
ARM_SOFT_UPPER_JOINT_LIMITS = ARM_UNSTOWED_POS + np.array([1.0, 0.8, 0.6, np.pi / 2, 0.9, np.pi / 4, 0])
+### Locomotion Policy Constants
+RL_LOCOMOTION_COMMAND_LENGTH = 25
+
+# Isaac<->MuJoCo joint index mappings
+ISAAC_TO_MUJOCO_INDICES_12 = [0, 4, 8, 1, 5, 9, 2, 6, 10, 3, 7, 11]
+ISAAC_TO_MUJOCO_INDICES_19 = [1, 6, 11, 2, 7, 12, 3, 8, 13, 4, 9, 14, 0, 5, 10, 15, 16, 17, 18]
+MUJOCO_TO_ISAAC_INDICES_12 = [0, 3, 6, 9, 1, 4, 7, 10, 2, 5, 8, 11]
+MUJOCO_TO_ISAAC_INDICES_19 = [12, 0, 3, 6, 9, 13, 1, 4, 7, 10, 14, 2, 5, 8, 11, 15, 16, 17, 18]
+
+# Default joint offsets for locomotion policy (Isaac order, 19 joints)
+LOCOMOTION_DEFAULT_JOINTS_OFFSET = (
+ 0.0,
+ 0.12,
+ -0.12,
+ 0.12,
+ -0.12,
+ -0.9,
+ 0.5,
+ 0.5,
+ 0.5,
+ 0.5,
+ 1.8,
+ -1.0,
+ -1.0,
+ -1.0,
+ -1.0,
+ 0.0,
+ -0.9,
+ 0.0,
+ -1.54,
+)
+
+# Default leg offsets for locomotion policy (Isaac order, 12 legs)
+LOCOMOTION_DEFAULT_LEGS_OFFSET = (0.12, -0.12, 0.12, -0.12, 0.5, 0.5, 0.5, 0.5, -1.0, -1.0, -1.0, -1.0)
+
### Command Indices
# Command structure: [base_vel(3), arm(7), legs(12), torso(3)] = 25 dimensions
BASE_VEL_CMD_INDS = [0, 1, 2]
diff --git a/judo/tasks/spot/spot_navigate.py b/judo/tasks/spot/spot_navigate.py
index eb88b886..6d6a3fbd 100644
--- a/judo/tasks/spot/spot_navigate.py
+++ b/judo/tasks/spot/spot_navigate.py
@@ -9,8 +9,9 @@
from typing import Any
import numpy as np
+from mujoco import MjData, MjModel
-from judo.tasks.spot.spot_base import SpotBase, SpotBaseConfig
+from judo.tasks.spot.spot_base import XML_PATH, SpotBase, SpotBaseConfig
from judo.tasks.spot.spot_constants import LEGS_STANDING_POS, STANDING_HEIGHT
from judo.utils.fields import np_1d_field
@@ -22,12 +23,13 @@ class SpotNavigateConfig(SpotBaseConfig):
w_goal: float = 60.0
fall_penalty: float = 2500.0
w_controls: float = 0.0
- goal_position: np.ndarray = np_1d_field(
+ goal_distance_threshold: float = 0.5
+ goal_pos: np.ndarray = np_1d_field(
np.array([0.0, 0.0, STANDING_HEIGHT]),
names=["x", "y", "z"],
mins=[-5.0, -5.0, 0.0],
maxs=[5.0, 5.0, 3.0],
- vis_name="goal_position",
+ vis_name="goal_pos",
xyz_vis_indices=[0, 1, None],
)
@@ -41,10 +43,11 @@ class SpotNavigate(SpotBase[SpotNavigateConfig]):
def __init__(
self,
+ model_path: str = XML_PATH,
config: SpotNavigateConfig | None = None,
) -> None:
"""Initialize the SpotNavigate task."""
- super().__init__(use_arm=False, config=config)
+ super().__init__(model_path=model_path, use_arm=False, config=config)
self.body_pose_idx = self.get_joint_position_start_index("base")
def reward(
@@ -63,9 +66,9 @@ def reward(
spot_fallen_reward = -self.config.fall_penalty * (body_height <= self.config.spot_fallen_threshold).any(axis=-1)
- goal_reward = -self.config.w_goal * np.linalg.norm(
- body_pos - self.config.goal_position[None, None], axis=-1
- ).mean(-1)
+ goal_reward = -self.config.w_goal * np.linalg.norm(body_pos - self.config.goal_pos[None, None], axis=-1).mean(
+ -1
+ )
controls_reward = -self.config.w_controls * np.linalg.norm(controls, axis=-1).mean(-1)
@@ -75,7 +78,14 @@ def reward(
return spot_fallen_reward + goal_reward + controls_reward
+ def success(self, model: MjModel, data: MjData, metadata: dict[str, Any] | None = None) -> bool:
+ """Check if Spot reached the goal and is still standing."""
+ body_pos = data.qpos[self.body_pose_idx : self.body_pose_idx + 3]
+ at_goal = np.linalg.norm(body_pos - self.config.goal_pos) <= self.config.goal_distance_threshold
+ return bool(at_goal and super().success(model, data, metadata))
+
@property
def reset_pose(self) -> np.ndarray:
- """Reset pose for the navigate task."""
- return np.array([0, 0, STANDING_HEIGHT, 1, 0, 0, 0, *LEGS_STANDING_POS, *self.reset_arm_pos])
+ """Reset pose for the navigate task with random initial xy position."""
+ xy = np.random.uniform(-2.0, 2.0, size=2)
+ return np.array([*xy, STANDING_HEIGHT, 1, 0, 0, 0, *LEGS_STANDING_POS, *self.reset_arm_pos])
diff --git a/judo/tasks/spot/spot_tire_roll.py b/judo/tasks/spot/spot_tire_roll.py
index 20766957..e211798b 100644
--- a/judo/tasks/spot/spot_tire_roll.py
+++ b/judo/tasks/spot/spot_tire_roll.py
@@ -10,6 +10,7 @@
from typing import Any
import numpy as np
+from mujoco import MjData, MjModel
from judo import MODEL_PATH
from judo.tasks.spot.spot_base import SpotBase, SpotBaseConfig
@@ -39,12 +40,13 @@ class SpotTireRollConfig(SpotBaseConfig):
w_tire_linear_velocity: float = 10.0
w_tire_angular_velocity: float = 0.30
w_controls: float = 0.0
- goal_position: np.ndarray = np_1d_field(
+ goal_distance_threshold: float = 0.5
+ goal_pos: np.ndarray = np_1d_field(
np.array([0.0, 0.0, TIRE_RADIUS]),
names=["x", "y", "z"],
mins=[-5.0, -5.0, 0.0],
maxs=[5.0, 5.0, 3.0],
- vis_name="goal_position",
+ vis_name="goal_pos",
xyz_vis_indices=[0, 1, None],
)
@@ -58,10 +60,11 @@ class SpotTireRoll(SpotBase[SpotTireRollConfig]):
def __init__(
self,
+ model_path: str = XML_PATH,
config: SpotTireRollConfig | None = None,
) -> None:
"""Initialize the SpotTireRoll task."""
- super().__init__(model_path=XML_PATH, use_arm=True, use_gripper=True, config=config)
+ super().__init__(model_path=model_path, use_arm=True, use_gripper=True, config=config)
self.body_pose_idx = self.get_joint_position_start_index("base")
self.object_pose_idx = self.get_joint_position_start_index("tire_joint")
self.gripper_pos_idx = self.get_sensor_start_index("trace_fngr_site")
@@ -90,7 +93,7 @@ def reward(
gripper_pos = sensors[..., self.gripper_pos_idx : self.gripper_pos_idx + 3]
object_y_axis = sensors[..., self.object_y_axis_idx : self.object_y_axis_idx + 3]
- tire_to_goal = self.config.goal_position - object_pos
+ tire_to_goal = self.config.goal_pos - object_pos
tire_to_goal_norm = np.linalg.norm(tire_to_goal, axis=-1, keepdims=True)
tire_to_goal_direction = tire_to_goal / (1e-2 + tire_to_goal_norm)
@@ -104,7 +107,7 @@ def reward(
np.dot(object_y_axis, Z_AXIS) > self.config.tire_fallen_threshold
).sum(axis=-1)
- goal_reward = -self.config.w_goal * np.linalg.norm(object_pos - self.config.goal_position, axis=-1).mean(-1)
+ goal_reward = -self.config.w_goal * np.linalg.norm(object_pos - self.config.goal_pos, axis=-1).mean(-1)
torso_proximity_reward = -self.config.w_torso_proximity * np.linalg.norm(body_pos - torso_goal, axis=-1).mean(
-1
@@ -136,6 +139,14 @@ def reward(
+ tire_angular_velocity_reward
)
+ def success(self, model: MjModel, data: MjData, metadata: dict[str, Any] | None = None) -> bool:
+ """Check if the tire is at goal, upright, and Spot is still standing."""
+ object_pos = data.qpos[self.object_pose_idx : self.object_pose_idx + 3]
+ tire_y_axis = data.sensordata[self.object_y_axis_idx : self.object_y_axis_idx + 3]
+ at_goal = np.linalg.norm(object_pos - self.config.goal_pos) <= self.config.goal_distance_threshold
+ upright = np.abs(tire_y_axis[2]) <= 0.1
+ return bool(at_goal and upright and super().success(model, data, metadata))
+
@property
def reset_pose(self) -> np.ndarray:
"""Reset pose for the tire roll task."""
diff --git a/judo/tasks/spot/spot_tire_upright.py b/judo/tasks/spot/spot_tire_upright.py
index e0b078cb..09026bf4 100644
--- a/judo/tasks/spot/spot_tire_upright.py
+++ b/judo/tasks/spot/spot_tire_upright.py
@@ -86,9 +86,6 @@ def __init__(
def _setup_sensor_indices(self) -> None:
"""Setup sensor indices for reward computation."""
- # Body pose index (base joint is first)
- self.body_pose_idx = self.get_joint_position_start_index("base")
-
# Object pose index (tire joint)
self.object_pose_idx = self.get_joint_position_start_index("tire_joint")
@@ -331,6 +328,6 @@ def success(
# Get tire y-axis sensor data
tire_y_axis = data.sensordata[self.tire_y_axis_idx : self.tire_y_axis_idx + 3]
- # Check if y-axis is horizontal (z-component close to 0)
- orientation_error = np.abs(tire_y_axis[2])
- return bool(orientation_error <= 0.1)
+ # Check if y-axis is horizontal (z-component close to 0) and Spot is still standing
+ upright = np.abs(tire_y_axis[2]) <= 0.1
+ return bool(upright and super().success(model, data, metadata))
diff --git a/judo/utils/mjwarp_rollout_backend.py b/judo/utils/mjwarp_rollout_backend.py
new file mode 100644
index 00000000..981547ad
--- /dev/null
+++ b/judo/utils/mjwarp_rollout_backend.py
@@ -0,0 +1,366 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""GPU-accelerated rollout backend using mujoco_warp (NVIDIA Warp)."""
+
+import logging
+
+import mujoco_warp as mjw
+import numpy as np
+import warp as wp
+from mujoco import MjData, MjModel
+
+from judo.controller.batched_spot_locomotion import BatchedSpotLocomotion
+from judo.utils.rollout_backend import RolloutBackend
+from judo.utils.timer import Timer
+
+logger = logging.getLogger(__name__)
+
+NCONMAX = 256
+NJMAX = 900
+CCD_ITERATIONS = 200
+DEVICE = "cuda:0"
+
+
+@wp.kernel
+def _copy_target_to_ctrl(
+ target_q: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ ctrl: wp.array2d(dtype=wp.float32), # pyright: ignore[reportInvalidTypeForm]
+ n_controlled: int,
+) -> None:
+ """Copy target_q into the first n_controlled columns of ctrl."""
+ i = wp.tid()
+ for j in range(n_controlled):
+ ctrl[i, j] = target_q[i, j]
+
+
+class PassThroughController:
+ """Passes commands through as target joint positions (no locomotion policy)."""
+
+ def compute_batch(
+ self,
+ cmd: wp.array,
+ qpos: wp.array,
+ qvel: wp.array,
+ previous_actions: wp.array | None,
+ ) -> tuple[wp.array, wp.array | None]:
+ """Return commands directly as targets and preserve previous policy outputs."""
+ return cmd, None
+
+ def reset(self) -> None:
+ """Reset controller state (no-op for pass-through mode)."""
+ pass
+
+ @property
+ def target_frequency(self) -> float:
+ """Policy update frequency in Hz for pass-through mode."""
+ return float("inf")
+
+
+class MJWarpRolloutBackend(RolloutBackend):
+ """GPU-accelerated rollout backend using mujoco_warp.
+
+ Supports two modes:
+ - Direct control: controls directly set actuator commands (default)
+ - Hierarchical control: controls are processed through locomotion policy + PD controller
+ """
+
+ def __init__(
+ self,
+ model: MjModel,
+ num_threads: int,
+ num_problems: int = 1,
+ locomotion_controller: BatchedSpotLocomotion | None = None,
+ device: str = DEVICE,
+ check_nan: bool = False,
+ ) -> None:
+ """Initialize the backend with optional hierarchical control.
+
+ Args:
+ model: MuJoCo model.
+ num_threads: Number of parallel rollouts per problem.
+ num_problems: Number of independent problems.
+ locomotion_controller: Locomotion policy (e.g. BatchedSpotLocomotion) or None.
+ device: Device for GPU operations.
+ check_nan: If True, check for NaN in rollout outputs and log warnings.
+ Useful for debugging mujoco_warp contact solver issues (e.g. low friction).
+ """
+ self.check_nan = check_nan
+ assert device != "cpu", "RolloutBackend requires a GPU device."
+
+ self.device = device
+ self.model = model
+ self.data = MjData(self.model)
+ self.num_threads = num_threads
+ self.num_problems = num_problems
+ self.num_worlds = num_threads * num_problems
+
+ with wp.ScopedDevice(device):
+ self.mjw_model = mjw.put_model(self.model)
+ self.mjw_model.opt.ccd_iterations = CCD_ITERATIONS
+ self.mjw_data = mjw.put_data(
+ self.model,
+ self.data,
+ nworld=self.num_worlds,
+ nconmax=NCONMAX,
+ njmax=NJMAX,
+ )
+
+ # Warm up kernels before CUDA graph capture (compilation not allowed during capture)
+ mjw.step(self.mjw_model, self.mjw_data)
+ wp.synchronize()
+
+ # Capture CUDA graph for step function
+ with wp.ScopedCapture() as capture:
+ mjw.step(self.mjw_model, self.mjw_data)
+ self.mjw_step_graph = capture.graph
+
+ # Initialize hierarchical control (optional)
+ self.locomotion_controller = locomotion_controller if locomotion_controller else PassThroughController()
+ self._uses_locomotion_policy = locomotion_controller is not None
+
+ # Calculate policy decimation
+ physics_dt = model.opt.timestep
+ self.policy_decimation = max(1, int(1.0 / (self.locomotion_controller.target_frequency * physics_dt)))
+ self.global_step_counter = 0
+
+ # Initialize timers for performance measurement
+ self.timer_cpu_to_gpu = Timer("CPU->GPU", unit="ms")
+ self.timer_rollout = Timer("Rollout ", unit="ms")
+ self.timer_gpu_to_cpu = Timer("GPU->CPU", unit="ms")
+
+ def rollout(
+ self,
+ x0: np.ndarray,
+ controls: np.ndarray,
+ last_policy_output: wp.array | None = None,
+ ) -> tuple[np.ndarray, np.ndarray, wp.array | None]:
+ """Conduct a GPU-accelerated rollout using mujoco_warp.
+
+ Supports both single-problem and multi-problem modes:
+ - Single problem: x0 shape (nq + nv,), controls shape (num_threads, horizon, nu)
+ - Multi-problem: x0 shape (num_problems, nq + nv), controls shape (num_problems*num_threads, horizon, nu)
+
+ Args:
+ x0: Initial state(s) as [qpos, qvel] (no time).
+ controls: Control inputs.
+ last_policy_output: Previous policy outputs as warp array on GPU,
+ shape (num_worlds, policy_dim), or None.
+
+ Returns:
+ Tuple of (states, sensors, policy_output):
+ - states: shape (num_worlds, horizon, nq + nv)
+ - sensors: shape (num_worlds, horizon, nsensordata)
+ - policy_output: Final policy outputs as warp array on GPU, or None.
+ """
+ nq = self.model.nq
+ nv = self.model.nv
+ nsensordata = self.model.nsensordata
+ horizon = controls.shape[1]
+
+ if x0.ndim == 1:
+ x0_batched = np.tile(x0, (self.num_threads, 1))
+ else:
+ x0_batched = np.repeat(x0, self.num_threads, axis=0)
+
+ num_worlds = x0_batched.shape[0]
+
+ full_states = np.concatenate([np.zeros((num_worlds, 1)), x0_batched], axis=-1)
+
+ assert full_states.shape[-1] == nq + nv + 1
+ assert full_states.ndim == 2
+ assert controls.ndim == 3
+ assert controls.shape[0] == num_worlds
+
+ # CPU -> GPU copy
+ self.timer_cpu_to_gpu.tic()
+ full_states_wp = wp.array(full_states, dtype=wp.float32)
+ controls_wp = wp.array(controls, dtype=wp.float32)
+
+ out_qpos_wp = wp.zeros((num_worlds, horizon, nq), dtype=wp.float32)
+ out_qvel_wp = wp.zeros((num_worlds, horizon, nv), dtype=wp.float32)
+ out_sensors_wp = wp.zeros((num_worlds, horizon, nsensordata), dtype=wp.float32)
+
+ # warp stubs type array slices as indexedarray, but wp.copy accepts them at runtime
+ wp.copy(self.mjw_data.time, full_states_wp[:, 0]) # pyright: ignore[reportArgumentType]
+ wp.copy(self.mjw_data.qpos, full_states_wp[:, 1 : nq + 1]) # pyright: ignore[reportArgumentType]
+ wp.copy(self.mjw_data.qvel, full_states_wp[:, 1 + nq : nq + nv + 1]) # pyright: ignore[reportArgumentType]
+ wp.synchronize()
+ self.timer_cpu_to_gpu.toc()
+
+ # GPU rollout loop
+ self.timer_rollout.tic()
+
+ if self._uses_locomotion_policy:
+ previous_actions_wp = self._rollout_with_locomotion_policy(
+ num_worlds,
+ horizon,
+ nq,
+ nv,
+ controls_wp,
+ out_qpos_wp,
+ out_qvel_wp,
+ out_sensors_wp,
+ last_policy_output,
+ )
+ else:
+ previous_actions_wp = self._rollout_direct(
+ horizon,
+ controls_wp,
+ out_qpos_wp,
+ out_qvel_wp,
+ out_sensors_wp,
+ )
+
+ wp.synchronize()
+ self.timer_rollout.toc()
+
+ # GPU -> CPU copy
+ self.timer_gpu_to_cpu.tic()
+ out_states = np.zeros((num_worlds, horizon, nq + nv), dtype=np.float32)
+ out_states[:, :, :nq] = out_qpos_wp.numpy()
+ out_states[:, :, nq : nq + nv] = out_qvel_wp.numpy()
+ out_sensors = out_sensors_wp.numpy()
+ self.timer_gpu_to_cpu.toc()
+
+ if self.check_nan:
+ self._warn_if_nan(out_states, out_sensors)
+
+ return out_states, out_sensors, previous_actions_wp
+
+ @staticmethod
+ def _warn_if_nan(states: np.ndarray, sensors: np.ndarray) -> None:
+ """Log warnings if NaN detected in rollout outputs."""
+ if np.any(np.isnan(states)):
+ nan_worlds = np.any(np.isnan(states), axis=(1, 2))
+ nan_count = int(np.sum(nan_worlds))
+ nan_indices = np.where(nan_worlds)[0]
+ logger.warning(
+ f"NaN in rollout states! {nan_count}/{states.shape[0]} worlds affected, "
+ f"indices: {nan_indices[:10].tolist()}"
+ )
+ # Find first NaN timestep for the first affected world
+ first_world = nan_indices[0]
+ nan_timesteps = np.where(np.any(np.isnan(states[first_world]), axis=1))[0]
+ logger.warning(f" World {first_world}: first NaN at timestep {nan_timesteps[0]}")
+ if nan_timesteps[0] > 0:
+ logger.warning(f" State at t={nan_timesteps[0] - 1}: {states[first_world, nan_timesteps[0] - 1]}")
+ if np.any(np.isnan(sensors)):
+ nan_worlds = np.any(np.isnan(sensors), axis=(1, 2))
+ logger.warning(f"NaN in rollout sensors! {int(np.sum(nan_worlds))}/{sensors.shape[0]} worlds affected")
+
+ def _rollout_direct(
+ self,
+ horizon: int,
+ controls_wp: wp.array,
+ out_qpos_wp: wp.array,
+ out_qvel_wp: wp.array,
+ out_sensors_wp: wp.array,
+ ) -> None:
+ """Fast rollout path for direct control (no locomotion policy).
+
+ Pipelines all GPU operations with a single sync at the end (done by caller).
+ """
+ for t in range(horizon):
+ wp.copy(self.mjw_data.ctrl, controls_wp[:, t, :]) # pyright: ignore[reportArgumentType]
+ wp.capture_launch(self.mjw_step_graph) # pyright: ignore[reportArgumentType]
+ wp.copy(out_qpos_wp[:, t, :], self.mjw_data.qpos) # pyright: ignore[reportArgumentType]
+ wp.copy(out_qvel_wp[:, t, :], self.mjw_data.qvel) # pyright: ignore[reportArgumentType]
+ wp.copy(out_sensors_wp[:, t, :], self.mjw_data.sensordata) # pyright: ignore[reportArgumentType]
+
+ def _rollout_with_locomotion_policy(
+ self,
+ num_worlds: int,
+ horizon: int,
+ nq: int,
+ nv: int,
+ controls_wp: wp.array,
+ out_qpos_wp: wp.array,
+ out_qvel_wp: wp.array,
+ out_sensors_wp: wp.array,
+ last_policy_output: wp.array | None,
+ ) -> wp.array | None:
+ """Rollout path for hierarchical control with locomotion policy."""
+ nu = self.model.nu
+ qpos_wp = wp.zeros((num_worlds, nq), dtype=wp.float32)
+ qvel_wp = wp.zeros((num_worlds, nv), dtype=wp.float32)
+ ctrl_wp = wp.zeros((num_worlds, nu), dtype=wp.float32)
+ target_q_wp = None
+ previous_actions_wp = last_policy_output
+
+ for t in range(horizon):
+ wp.synchronize()
+
+ cmd_wp = controls_wp[:, t, :]
+
+ # Update locomotion policy at the policy's target frequency
+ if target_q_wp is None or self.global_step_counter % self.policy_decimation == 0:
+ target_q_wp, previous_actions_wp = self.locomotion_controller.compute_batch(
+ cmd_wp, # pyright: ignore[reportArgumentType]
+ qpos_wp,
+ qvel_wp,
+ previous_actions_wp,
+ )
+
+ # Copy target_q into ctrl (pad remaining actuators with zeros)
+ n_controlled = target_q_wp.shape[1]
+ wp.launch(
+ _copy_target_to_ctrl,
+ dim=num_worlds,
+ inputs=[target_q_wp, ctrl_wp, n_controlled],
+ device=self.device,
+ )
+ wp.copy(self.mjw_data.ctrl, ctrl_wp)
+
+ wp.capture_launch(self.mjw_step_graph) # pyright: ignore[reportArgumentType]
+
+ self.global_step_counter += 1
+
+ wp.copy(qpos_wp, self.mjw_data.qpos)
+ wp.copy(qvel_wp, self.mjw_data.qvel)
+ wp.copy(out_qpos_wp[:, t, :], self.mjw_data.qpos) # pyright: ignore[reportArgumentType]
+ wp.copy(out_qvel_wp[:, t, :], self.mjw_data.qvel) # pyright: ignore[reportArgumentType]
+ wp.copy(out_sensors_wp[:, t, :], self.mjw_data.sensordata) # pyright: ignore[reportArgumentType]
+
+ return previous_actions_wp
+
+ def update(self, num_threads: int, num_problems: int = 1) -> None:
+ """Update the backend with a new number of threads."""
+ self.num_threads = num_threads
+ self.num_problems = num_problems
+ self.num_worlds = num_threads * num_problems
+
+ with wp.ScopedDevice(DEVICE):
+ self.mjw_model = mjw.put_model(self.model)
+ self.mjw_model.opt.ccd_iterations = CCD_ITERATIONS
+ self.mjw_data = mjw.put_data(
+ self.model,
+ self.data,
+ nworld=self.num_worlds,
+ nconmax=NCONMAX,
+ njmax=NJMAX,
+ )
+
+ # Warm up kernels before CUDA graph capture
+ mjw.step(self.mjw_model, self.mjw_data)
+ wp.synchronize()
+
+ with wp.ScopedCapture() as capture:
+ mjw.step(self.mjw_model, self.mjw_data)
+ self.mjw_step_graph = capture.graph
+
+ def print_timer_stats(self) -> None:
+ """Print timing statistics for all rollout operations."""
+ self.timer_cpu_to_gpu.print_stats()
+ self.timer_rollout.print_stats()
+ self.timer_gpu_to_cpu.print_stats()
+
+ def reset_timers(self) -> None:
+ """Reset all timing statistics."""
+ self.timer_cpu_to_gpu.reset()
+
+ def reset(self) -> None:
+ """Reset internal state (controllers and step counter)."""
+ self.locomotion_controller.reset()
+ self.global_step_counter = 0
+ self.timer_rollout.reset()
+ self.timer_gpu_to_cpu.reset()
diff --git a/judo/utils/policy_mj_rollout_backend.py b/judo/utils/policy_mj_rollout_backend.py
index ca19f1a7..a0939743 100644
--- a/judo/utils/policy_mj_rollout_backend.py
+++ b/judo/utils/policy_mj_rollout_backend.py
@@ -78,7 +78,7 @@ def rollout(
x0 = np.tile(x0, (self.num_threads, 1))
if last_policy_output is None:
- raise ValueError("last_policy_output is required for PolicyMJRolloutBackend")
+ last_policy_output = np.zeros((x0.shape[0], 12))
x0 = np.asarray(x0, dtype=np.float64)
controls = np.asarray(controls, dtype=np.float64)
diff --git a/judo/utils/rollout_backend.py b/judo/utils/rollout_backend.py
index 399f283c..a3a1f144 100644
--- a/judo/utils/rollout_backend.py
+++ b/judo/utils/rollout_backend.py
@@ -3,6 +3,7 @@
"""Base class for rollout backends."""
from abc import ABC, abstractmethod
+from typing import Any
import numpy as np
@@ -21,8 +22,8 @@ def rollout(
self,
x0: np.ndarray,
controls: np.ndarray,
- last_policy_output: np.ndarray | None = None,
- ) -> tuple[np.ndarray, np.ndarray, np.ndarray | None]:
+ last_policy_output: Any = None,
+ ) -> tuple[np.ndarray, np.ndarray, Any]:
"""Conduct parallel rollouts.
Args:
diff --git a/judo/utils/timer.py b/judo/utils/timer.py
new file mode 100644
index 00000000..5f92cdaf
--- /dev/null
+++ b/judo/utils/timer.py
@@ -0,0 +1,177 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""Timer utility for measuring and analyzing code execution time."""
+
+import time
+from typing import Callable
+
+import numpy as np
+
+
+class Timer:
+ """Timer for measuring code execution time with statistics.
+
+ Uses MATLAB-style tic/toc naming.
+
+ Example:
+ >>> timer = Timer("inference")
+ >>> for _ in range(100):
+ ... timer.tic()
+ ... model.forward(x)
+ ... timer.toc()
+ >>> timer.print_stats()
+ [inference:] mean=1.234ms, std=0.123ms, ..., total=123.400ms (n=100)
+
+ # Or use as context manager:
+ >>> with timer:
+ ... model.forward(x)
+ """
+
+ def __init__(self, name: str = "Timer", unit: str = "ms") -> None:
+ """Initialize the timer.
+
+ Args:
+ name: Name of the timer for display purposes.
+ unit: Time unit for display ("s", "ms", "us", "ns"). Default is "ms".
+ """
+ self.name = name
+ self.unit = unit
+ self._tik: float | None = None
+ self._times: list[float] = []
+
+ def tic(self) -> None:
+ """Start the timer (MATLAB-style)."""
+ self._tik = time.perf_counter()
+
+ def toc(self) -> float:
+ """Stop the timer and record the elapsed time (MATLAB-style).
+
+ Returns:
+ The elapsed time in seconds.
+
+ Raises:
+ RuntimeError: If the timer was not started.
+ """
+ if self._tik is None:
+ raise RuntimeError("Timer was not started. Call tic() first.")
+ elapsed = time.perf_counter() - self._tik
+ self._times.append(elapsed)
+ self._tik = None
+ return elapsed
+
+ # Aliases for backwards compatibility
+ start = tic
+ stop = toc
+
+ def __enter__(self) -> "Timer":
+ """Context manager entry - starts the timer."""
+ self.tic()
+ return self
+
+ def __exit__(self, *args: object) -> None:
+ """Context manager exit - stops the timer."""
+ self.toc()
+
+ def reset(self) -> None:
+ """Reset all recorded times."""
+ self._times = []
+ self._tik = None
+
+ @property
+ def times(self) -> list[float]:
+ """Get all recorded times in seconds."""
+ return self._times
+
+ @property
+ def count(self) -> int:
+ """Get the number of recorded times."""
+ return len(self._times)
+
+ def _convert_time(self, seconds: float) -> float:
+ """Convert time from seconds to the configured unit."""
+ multipliers = {"s": 1.0, "ms": 1e3, "us": 1e6, "ns": 1e9}
+ return seconds * multipliers.get(self.unit, 1e3)
+
+ @property
+ def mean(self) -> float:
+ """Get the mean time in seconds."""
+ if not self._times:
+ return 0.0
+ return float(np.mean(self._times))
+
+ @property
+ def std(self) -> float:
+ """Get the standard deviation of times in seconds."""
+ if len(self._times) < 2:
+ return 0.0
+ return float(np.std(self._times))
+
+ @property
+ def median(self) -> float:
+ """Get the median time in seconds."""
+ if not self._times:
+ return 0.0
+ return float(np.median(self._times))
+
+ @property
+ def min(self) -> float:
+ """Get the minimum time in seconds."""
+ if not self._times:
+ return 0.0
+ return float(np.min(self._times))
+
+ @property
+ def max(self) -> float:
+ """Get the maximum time in seconds."""
+ if not self._times:
+ return 0.0
+ return float(np.max(self._times))
+
+ @property
+ def total(self) -> float:
+ """Get the total accumulated time in seconds."""
+ return sum(self._times)
+
+ def get_stats(self) -> dict[str, float]:
+ """Get all statistics as a dictionary.
+
+ Returns:
+ Dictionary with keys: mean, std, median, min, max, total, count.
+ All time values are in seconds.
+ """
+ return {
+ "mean": self.mean,
+ "std": self.std,
+ "median": self.median,
+ "min": self.min,
+ "max": self.max,
+ "total": self.total,
+ "count": self.count,
+ }
+
+ def print_stats(self, print_fn: Callable[[str], None] = print) -> None:
+ """Print timing statistics.
+
+ Args:
+ print_fn: Function to use for printing (default: print).
+ Can be logging.info or any callable that takes a string.
+ """
+ if not self._times:
+ print_fn(f"{self.name}: no measurements recorded")
+ return
+
+ stats = (
+ f"[{self.name}:] "
+ f"mean={self._convert_time(self.mean):.3f}{self.unit}, "
+ f"std={self._convert_time(self.std):.3f}{self.unit}, "
+ f"median={self._convert_time(self.median):.3f}{self.unit}, "
+ f"min={self._convert_time(self.min):.3f}{self.unit}, "
+ f"max={self._convert_time(self.max):.3f}{self.unit}, "
+ f"total={self._convert_time(self.total):.3f}{self.unit} "
+ f"(n={self.count})"
+ )
+ print_fn(stats)
+
+ def __repr__(self) -> str:
+ """Return a string representation of the timer."""
+ return f"Timer(name={self.name!r}, count={self.count}, mean={self.mean:.6f}s)"
diff --git a/mujoco_extensions/__init__.py b/mujoco_extensions/__init__.py
index 707344a6..8c3458ba 100644
--- a/mujoco_extensions/__init__.py
+++ b/mujoco_extensions/__init__.py
@@ -1,11 +1,5 @@
# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
-import ctypes
-import os
-
-import mujoco
-
-
from mujoco_extensions import policy_rollout
__all__ = [
diff --git a/mujoco_extensions/onnx_interface/onnx_interface.cpp b/mujoco_extensions/onnx_interface/onnx_interface.cpp
index bd679945..59a7b108 100644
--- a/mujoco_extensions/onnx_interface/onnx_interface.cpp
+++ b/mujoco_extensions/onnx_interface/onnx_interface.cpp
@@ -102,7 +102,9 @@ VectorT Policy::policyInference(VectorT* input_vector) {
}
std::shared_ptr allocateOrtSession(const std::string& policy_filepath) {
- static Ort::Env env{ORT_LOGGING_LEVEL_WARNING, "mujoco_extensions"};
+ // Ort::Env must outlive all sessions that use it. A single static instance
+ // is shared across the process (Ort::Env is thread-safe).
+ static Ort::Env env(ORT_LOGGING_LEVEL_WARNING, "mujoco_extensions");
Ort::SessionOptions session_options;
session_options.SetIntraOpNumThreads(1);
return std::make_shared(env, policy_filepath.c_str(), session_options);
diff --git a/mujoco_extensions/system/system_class.cpp b/mujoco_extensions/system/system_class.cpp
index b21179ea..8406385f 100644
--- a/mujoco_extensions/system/system_class.cpp
+++ b/mujoco_extensions/system/system_class.cpp
@@ -372,25 +372,20 @@ std::vector> create_systems_vector(const mj
// Vector to store the systems
std::vector> systems(num_systems);
- std::shared_ptr reference_session =
- std::shared_ptr(OnnxInterface::allocateOrtSession(policy_filepath));
- // Function to create a system in a separate thread
- auto create_system = [&](int i) {
- systems[i] = std::make_shared(policy_filepath, reference_model, reference_session);
- };
-
- // Vector to hold the threads
- std::vector threads;
- threads.reserve(num_systems);
+ if (!reference_model) {
+ throw std::runtime_error("create_systems_vector: reference_model is null");
+ }
- // Launch threads to create System instances in parallel
- for (int i = 0; i < num_systems; i++) {
- threads.emplace_back(create_system, i);
+ std::shared_ptr reference_session;
+ try {
+ reference_session = OnnxInterface::allocateOrtSession(policy_filepath);
+ } catch (const std::exception& e) {
+ throw std::runtime_error(std::string("create_systems_vector: failed to create ONNX session: ") + e.what());
}
- // Wait for all threads to finish
- for (auto& thread : threads) {
- thread.join();
+ // Create systems sequentially — mj_copyModel is not thread-safe
+ for (int i = 0; i < num_systems; i++) {
+ systems[i] = std::make_shared(policy_filepath, reference_model, reference_session);
}
return systems;
diff --git a/pixi.lock b/pixi.lock
index 6d2aa972..73163be6 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -5,8 +5,6 @@ environments:
- url: https://conda.anaconda.org/conda-forge/
indexes:
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- options:
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packages:
linux-64:
- conda: https://conda.anaconda.org/conda-forge/linux-64/_openmp_mutex-4.5-20_gnu.conda
@@ -15,11 +13,11 @@ environments:
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- conda: https://conda.anaconda.org/conda-forge/noarch/ca-certificates-2026.1.4-hbd8a1cb_0.conda
- - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.3-hc85cc9f_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/cmake-4.2.3-hc85cc9f_1.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/eigen-3.4.0-h171cf75_1.conda
- - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.4.0-hf2caf72_17.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_impl_linux-64-13.4.0-he2fa53e_18.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/gcc_linux-64-13.4.0-h0a5b801_21.conda
- - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.4.0-h6a38259_17.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_impl_linux-64-13.4.0-h6a38259_18.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/gxx_linux-64-13.4.0-h587059e_21.conda
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- conda: https://conda.anaconda.org/conda-forge/noarch/kernel-headers_linux-64-4.18.0-he073ed8_9.conda
@@ -31,19 +29,19 @@ environments:
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+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-15.2.0-he0feb66_18.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/libgcc-devel_linux-64-13.4.0-hd1d28cc_118.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-15.2.0-h69a702a_18.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-15.2.0-he0feb66_18.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/liblzma-5.8.2-hb03c661_0.conda
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- - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-13.4.0-h2a15e64_17.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libsanitizer-13.4.0-h2a15e64_18.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/libsqlite-3.51.2-hf4e2dac_0.conda
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- - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_17.conda
- - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-13.4.0-h6963c3b_117.conda
- - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-hdf11a46_17.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-15.2.0-h934c35e_18.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/libstdcxx-devel_linux-64-13.4.0-h6963c3b_118.conda
+ - conda: https://conda.anaconda.org/conda-forge/linux-64/libstdcxx-ng-15.2.0-hdf11a46_18.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/libuuid-2.41.3-h5347b49_0.conda
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@@ -51,8 +49,8 @@ environments:
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- - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-global-3.0.1-pyhc7ab6ef_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-3.0.2-pyh7a1b43c_0.conda
+ - conda: https://conda.anaconda.org/conda-forge/noarch/pybind11-global-3.0.2-pyhc7ab6ef_0.conda
- conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.13.12-hc97d973_100_cp313.conda
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-- pypi: https://files.pythonhosted.org/packages/33/76/35d05267ac82f53ae9b0e554da7c5e281ee61f3cad44c743f0fcd354f211/xxhash-3.6.0-cp313-cp313-macosx_10_13_x86_64.whl
- name: xxhash
- version: 3.6.0
- sha256: 599e64ba7f67472481ceb6ee80fa3bd828fd61ba59fb11475572cc5ee52b89ec
- requires_python: '>=3.7'
-- pypi: https://files.pythonhosted.org/packages/34/ee/f9f1d656ad168681bb0f6b092372c1e533c4416b8069b1896a175c46e484/xxhash-3.6.0-cp310-cp310-macosx_10_9_x86_64.whl
- name: xxhash
- version: 3.6.0
- sha256: 87ff03d7e35c61435976554477a7f4cd1704c3596a89a8300d5ce7fc83874a71
- requires_python: '>=3.7'
- pypi: https://files.pythonhosted.org/packages/5e/1e/3c3d3ef071b051cc3abbe3721ffb8365033a172613c04af2da89d5548a87/xxhash-3.6.0-cp313-cp313-manylinux2014_x86_64.manylinux_2_17_x86_64.manylinux_2_28_x86_64.whl
name: xxhash
version: 3.6.0
@@ -11346,11 +10474,6 @@ packages:
version: 3.6.0
sha256: 757320d45d2fbcce8f30c42a6b2f47862967aea7bf458b9625b4bbe7ee390392
requires_python: '>=3.7'
-- pypi: https://files.pythonhosted.org/packages/9a/07/d9412f3d7d462347e4511181dea65e47e0d0e16e26fbee2ea86a2aefb657/xxhash-3.6.0-cp312-cp312-macosx_10_13_x86_64.whl
- name: xxhash
- version: 3.6.0
- sha256: 01362c4331775398e7bb34e3ab403bc9ee9f7c497bc7dee6272114055277dd3c
- requires_python: '>=3.7'
- pypi: https://files.pythonhosted.org/packages/a3/b1/93508d9460b292c74a09b83d16750c52a0ead89c51eea9951cb97a60d959/xxhash-3.6.0-cp310-cp310-macosx_11_0_arm64.whl
name: xxhash
version: 3.6.0
@@ -11405,22 +10528,6 @@ packages:
- pytest-enabler>=2.2 ; extra == 'enabler'
- pytest-mypy ; extra == 'type'
requires_python: '>=3.9'
-- pypi: https://files.pythonhosted.org/packages/2a/83/c3ca27c363d104980f1c9cee1101cc8ba724ac8c28a033ede6aab89585b1/zstandard-0.25.0-cp311-cp311-macosx_10_9_x86_64.whl
- name: zstandard
- version: 0.25.0
- sha256: 933b65d7680ea337180733cf9e87293cc5500cc0eb3fc8769f4d3c88d724ec5c
- requires_dist:
- - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- requires_python: '>=3.9'
-- pypi: https://files.pythonhosted.org/packages/35/0b/8df9c4ad06af91d39e94fa96cc010a24ac4ef1378d3efab9223cc8593d40/zstandard-0.25.0-cp313-cp313-macosx_10_13_x86_64.whl
- name: zstandard
- version: 0.25.0
- sha256: ec996f12524f88e151c339688c3897194821d7f03081ab35d31d1e12ec975e94
- requires_dist:
- - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- requires_python: '>=3.9'
- pypi: https://files.pythonhosted.org/packages/3f/06/9ae96a3e5dcfd119377ba33d4c42a7d89da1efabd5cb3e366b156c45ff4d/zstandard-0.25.0-cp313-cp313-macosx_11_0_arm64.whl
name: zstandard
version: 0.25.0
@@ -11445,14 +10552,6 @@ packages:
- cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
requires_python: '>=3.9'
-- pypi: https://files.pythonhosted.org/packages/56/7a/28efd1d371f1acd037ac64ed1c5e2b41514a6cc937dd6ab6a13ab9f0702f/zstandard-0.25.0-cp310-cp310-macosx_10_9_x86_64.whl
- name: zstandard
- version: 0.25.0
- sha256: e59fdc271772f6686e01e1b3b74537259800f57e24280be3f29c8a0deb1904dd
- requires_dist:
- - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- requires_python: '>=3.9'
- pypi: https://files.pythonhosted.org/packages/63/4b/e3678b4e776db00f9f7b2fe58e547e8928ef32727d7a1ff01dea010f3f13/zstandard-0.25.0-cp313-cp313-manylinux2014_x86_64.manylinux_2_17_x86_64.whl
name: zstandard
version: 0.25.0
@@ -11469,14 +10568,6 @@ packages:
- cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
requires_python: '>=3.9'
-- pypi: https://files.pythonhosted.org/packages/82/fc/f26eb6ef91ae723a03e16eddb198abcfce2bc5a42e224d44cc8b6765e57e/zstandard-0.25.0-cp312-cp312-macosx_10_13_x86_64.whl
- name: zstandard
- version: 0.25.0
- sha256: 7b3c3a3ab9daa3eed242d6ecceead93aebbb8f5f84318d82cee643e019c4b73b
- requires_dist:
- - cffi~=1.17 ; python_full_version < '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- - cffi>=2.0.0b0 ; python_full_version >= '3.14' and platform_python_implementation != 'PyPy' and extra == 'cffi'
- requires_python: '>=3.9'
- pypi: https://files.pythonhosted.org/packages/93/90/96d50ad417a8ace5f841b3228e93d1bb13e6ad356737f42e2dde30d8bd68/zstandard-0.25.0-cp310-cp310-win_amd64.whl
name: zstandard
version: 0.25.0
@@ -11544,17 +10635,6 @@ packages:
purls: []
size: 601375
timestamp: 1764777111296
-- conda: https://conda.anaconda.org/conda-forge/osx-64/zstd-1.5.7-h3eecb57_6.conda
- sha256: 47101a4055a70a4876ffc87b750ab2287b67eca793f21c8224be5e1ee6394d3f
- md5: 727109b184d680772e3122f40136d5ca
- depends:
- - __osx >=10.13
- - libzlib >=1.3.1,<2.0a0
- license: BSD-3-Clause
- license_family: BSD
- purls: []
- size: 528148
- timestamp: 1764777156963
- conda: https://conda.anaconda.org/conda-forge/osx-arm64/zstd-1.5.7-hbf9d68e_6.conda
sha256: 9485ba49e8f47d2b597dd399e88f4802e100851b27c21d7525625b0b4025a5d9
md5: ab136e4c34e97f34fb621d2592a393d8
diff --git a/pyproject.toml b/pyproject.toml
index 72bdb06a..cf2a7051 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -30,13 +30,15 @@ classifiers = [
dependencies = [
"dora-utils", # dora + qol utils for writing nodes
- "mujoco>=3.5.0,<3.6",
+ "h5py",
+ "mujoco>=3.5.0",
"numpy",
"pillow", # for displaying app logo
"pycparser",
"requests", # for sharing GUI link
"rich", # for displaying tables in benchmarking
"robot_descriptions", # for loading mujoco_menagerie Spot meshes
+ "tyro",
"scipy",
"viser>=1.0.0",
]
@@ -47,12 +49,13 @@ dependencies = [
[project.scripts]
judo = "judo.cli:app"
benchmark = "judo.cli:benchmark"
+run_mpc = "run_mpc.cli:main"
[tool.hatch.metadata]
allow-direct-references = true
[tool.hatch.build.targets.wheel]
-packages = ["judo", "mujoco_extensions"]
+packages = ["judo", "mujoco_extensions", "run_mpc"]
artifacts = ["mujoco_extensions/**/policy_rollout_pybind*.so", "judo/app/asset/*"]
exclude = [
"judo/models/meshes",
@@ -84,6 +87,7 @@ dev = [
"pyright",
"pytest",
"pytest-cov",
+ "pytest-timeout",
"pytest-xdist",
"ruff",
"twine",
@@ -100,17 +104,17 @@ testpaths = [
]
[tool.pyright]
-include = ["judo", "tests"]
+include = ["judo", "tests", "run_mpc"]
exclude = [
"**/__pycache__",
]
defineConstant = { DEBUG = true }
stubPath = "typings"
-reportMissingImports = "warning"
reportMissingTypeStubs = false
reportPrivateImportUsage = false
+
pythonVersion = "3.13"
pythonPlatform = "Linux"
@@ -189,7 +193,7 @@ ignore = [
[tool.pixi.workspace]
channels = ["conda-forge"]
-platforms = ["linux-64", "win-64", "osx-64", "osx-arm64"]
+platforms = ["linux-64", "win-64", "osx-arm64"]
[tool.pixi.dependencies]
python = ">=3.10,<3.14" # mujoco has no 3.14 wheel yet
@@ -214,6 +218,7 @@ build = { cmd = "cmake --build mujoco_extensions/build -j8", depends-on = ["conf
clean = { cmd = "rm -rf mujoco_extensions/build mujoco_extensions/policy_rollout/*.so", description = "Clean mujoco_extensions build artifacts" }
upload-meshes = { cmd = "bash scripts/upload_meshes.sh", description = "Zip and upload meshes to latest GitHub release" }
build-wheel = { cmd = "rm -rf dist && python -m build --wheel --outdir dist && bash scripts/repair_wheel.sh dist/*.whl wheelhouse \"\" $(python -c \"import sys; print(f'cp{sys.version_info[0]}{sys.version_info[1]}')\")", depends-on = ["clean", "build"], description = "Build manylinux wheel with auditwheel" }
+run_mpc = { cmd = "run_mpc", description = "Run batched MPC (pass args after --)" }
[tool.pixi.activation.env]
LD_LIBRARY_PATH = "$CONDA_PREFIX/lib:$LD_LIBRARY_PATH"
@@ -227,10 +232,19 @@ python = "3.12.*"
[tool.pixi.feature.py313.dependencies]
python = "3.13.*"
+[tool.pixi.feature.mjwarp.dependencies]
+python = ">=3.11,<3.14"
+[tool.pixi.feature.mjwarp.target.linux-64.pypi-dependencies]
+mujoco_warp = ">=3.5.0"
+onnx = "*"
+onnxruntime-gpu = ">=1.24"
+
[tool.pixi.environments]
default = { solve-group = "default" }
docs = { features = ["docs"], solve-group = "default" }
dev = { features = ["dev", "docs"], solve-group = "default" }
+mjwarp = { features = ["mjwarp"], solve-group = "mjwarp" }
+dev-mjwarp = { features = ["dev", "mjwarp"], solve-group = "mjwarp" }
py310 = { features = ["dev", "py310"], solve-group = "py310" }
py311 = { features = ["dev", "py311"], solve-group = "py311" }
py312 = { features = ["dev", "py312"], solve-group = "py312" }
diff --git a/run_mpc/README.md b/run_mpc/README.md
new file mode 100644
index 00000000..6b070946
--- /dev/null
+++ b/run_mpc/README.md
@@ -0,0 +1,101 @@
+# `run_mpc`
+
+Run batched MPC rollouts from a JSON config and save successful trajectories to an HDF5 dataset.
+
+## Prerequisite
+
+This must be run in the `mjwarp` pixi environment (requires GPU):
+
+```bash
+pixi shell -e mjwarp
+```
+
+Run commands below from the repository root (`judo/`).
+
+## Basic usage
+
+```bash
+run_mpc --config-path run_mpc/configs/cylinder_push.json
+```
+
+By default, this writes output to `run_mpc/configs/trajectories.h5`.
+
+## Common examples
+
+Run 50 trajectories with 8 in parallel:
+
+```bash
+run_mpc \
+ --config-path run_mpc/configs/cylinder_push.json \
+ --num-trajectories 50 \
+ --num-parallel 8
+```
+
+Choose a custom output file:
+
+```bash
+run_mpc \
+ --config-path run_mpc/configs/spot_navigate.json \
+ --dataset-output-path outputs/mpc/spot_navigate.h5
+```
+
+Enable visualization (single trajectory only):
+
+```bash
+run_mpc \
+ --config-path run_mpc/configs/spot_navigate.json \
+ --num-parallel 1 \
+ --visualize
+```
+
+## Skip success filtering
+
+By default, only trajectories where `task.success()` returns `True` are saved.
+For tasks without a `success()` implementation, the CLI raises an error upfront.
+Use `--no-require-success` to collect all trajectories regardless:
+
+```bash
+run_mpc \
+ --config-path run_mpc/configs/cartpole.json \
+ --no-require-success
+```
+
+## Debug NaN issues
+
+Enable `--check-nan` to log warnings when mujoco_warp rollouts produce NaN
+(common with low-friction contacts):
+
+```bash
+run_mpc \
+ --config-path run_mpc/configs/cylinder_push.json \
+ --check-nan
+```
+
+## Visualize trajectories
+
+After generating trajectories, visualize them with:
+
+```bash
+python run_mpc/visualize_trajectories.py --dataset-path run_mpc/configs/trajectories.h5
+```
+
+## Without entering shell
+
+```bash
+pixi run -e mjwarp run_mpc -- --config-path run_mpc/configs/cylinder_push.json
+```
+
+## Running tests
+
+The MPC tests (`tests/test_run_mpc.py`) require a CUDA GPU and the `dev-mjwarp` pixi
+environment. They are automatically skipped on machines without a GPU.
+
+There is no GPU runner on CI for this public repo yet, so these tests must be run manually:
+
+```bash
+pixi run -e dev-mjwarp pytest tests/test_run_mpc.py -v
+```
+
+This runs end-to-end tests for all tasks (cartpole, cylinder_push, spot_navigate,
+spot_box_push, spot_tire_roll, spot_tire_upright), verifying MPC execution, trajectory
+shapes, reward values, and HDF5 output.
diff --git a/run_mpc/__init__.py b/run_mpc/__init__.py
new file mode 100644
index 00000000..4d3e2daf
--- /dev/null
+++ b/run_mpc/__init__.py
@@ -0,0 +1 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
diff --git a/run_mpc/cli.py b/run_mpc/cli.py
new file mode 100644
index 00000000..b42420d1
--- /dev/null
+++ b/run_mpc/cli.py
@@ -0,0 +1,118 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""Entry point for running batched MPC and saving trajectories to HDF5.
+
+Usage: python -m run_mpc --config-path
+"""
+
+import json
+import logging
+from pathlib import Path
+
+import numpy as np
+from tqdm import tqdm
+
+from judo.visualizers.visualizer import Visualizer
+from run_mpc.mpc_batch import run_mpc_batch
+from run_mpc.mpc_config import MPCTimers, PublicMPCConfig, decode_config, load_configs_from_json_data
+from run_mpc.mpc_setup import clamp_for_mjwarp, save_results_to_h5, setup_mpc
+
+
+def _load_json_config(config_path: Path) -> tuple[dict, Path]:
+ """Load and decode a JSON MPC config file, returning (data, resolved_path)."""
+ resolved = Path(config_path).resolve()
+ logging.info(f"Loading policy config from {resolved}")
+ with open(resolved, "r") as f:
+ return json.load(f, object_hook=decode_config), resolved
+
+
+def _create_visualizer(config: PublicMPCConfig, json_configs: dict, num_parallel: int) -> Visualizer | None:
+ """Create a visualizer if enabled and in single-trajectory mode."""
+ if not config.visualize:
+ return None
+ if num_parallel > 1:
+ logging.warning("Visualization not supported in batched mode. Disabling.")
+ return None
+ return Visualizer(init_task=json_configs["task"], init_optimizer=json_configs["optimizer"])
+
+
+def _resolve_output_path(config: PublicMPCConfig, config_path: Path) -> Path:
+ """Resolve the HDF5 output path, creating parent directories as needed."""
+ if config.dataset_output_path is None:
+ output_path = config_path.parent / "trajectories.h5"
+ else:
+ output_path = Path(config.dataset_output_path).resolve()
+ output_path.parent.mkdir(parents=True, exist_ok=True)
+ return output_path
+
+
+def run_mpc(config: PublicMPCConfig) -> None:
+ """Run batched MPC and write trajectories to an HDF5 file."""
+ logging.basicConfig(level=logging.INFO, format="%(levelname)s - %(message)s", handlers=[logging.StreamHandler()])
+
+ json_configs, config_path = _load_json_config(config.config_path)
+ task, optimizer, controller_cfg = load_configs_from_json_data(json_configs)
+ clamp_for_mjwarp(task.model)
+
+ # Fail early if require_success is set but the task has no success() implementation
+ from judo.tasks.base import Task # noqa: PLC0415
+
+ if config.require_success and type(task).success is Task.success:
+ raise ValueError(
+ f"Task '{json_configs['task']}' does not implement success(), "
+ f"so all trajectories will be discarded with --require-success (the default). "
+ f"Either add a success() method to the task or use --no-require-success."
+ )
+
+ num_parallel = min(config.num_parallel, config.num_trajectories)
+ sims, batched_controllers, size_data = setup_mpc(
+ config, json_configs, task, optimizer, controller_cfg, num_parallel
+ )
+ vis = _create_visualizer(config, json_configs, num_parallel)
+ output_path = _resolve_output_path(config, config_path)
+
+ logging.info(f"Running {config.num_trajectories} trajectories ({num_parallel} parallel) -> {output_path}")
+
+ timers = MPCTimers.create()
+ all_results: list[dict[str, np.ndarray | int]] = []
+ total_attempted = 0
+ max_attempts = config.num_trajectories * 2
+
+ with tqdm(total=config.num_trajectories, desc="Successful trajectories", unit="traj") as pbar:
+ while len(all_results) < config.num_trajectories and total_attempted < max_attempts:
+ batch_results = run_mpc_batch(sims, batched_controllers, config, size_data, timers, vis=vis)
+ for result in batch_results:
+ if len(all_results) >= config.num_trajectories:
+ break
+ if not config.require_success or result["success"]:
+ all_results.append(result)
+ pbar.update(1)
+ total_attempted += len(batch_results)
+
+ if len(all_results) < config.num_trajectories:
+ logging.warning(
+ f"Only {len(all_results)}/{config.num_trajectories} successful after {total_attempted} attempts"
+ )
+
+ logging.info(
+ f"Success rate: {len(all_results)}/{total_attempted} ({100 * len(all_results) / max(total_attempted, 1):.0f}%)"
+ )
+
+ if len(all_results) == 0:
+ logging.error("No successful trajectories. Skipping HDF5 save.")
+ else:
+ size_data.num_trajectories = len(all_results)
+ timers.h5_write.tic()
+ save_results_to_h5(output_path, all_results, size_data, config, config_path, json_configs, num_parallel)
+ timers.h5_write.toc()
+ logging.info(f"Saved {len(all_results)} trajectories to {output_path}")
+ timers.print_all()
+ logging.info("=== Rollout Backend Statistics ===")
+ batched_controllers.print_timer_stats()
+
+
+def main() -> None:
+ """CLI entry point for run-mpc."""
+ import tyro # noqa: PLC0415
+
+ run_mpc(tyro.cli(PublicMPCConfig))
diff --git a/run_mpc/configs/cartpole.json b/run_mpc/configs/cartpole.json
new file mode 100644
index 00000000..16626c5d
--- /dev/null
+++ b/run_mpc/configs/cartpole.json
@@ -0,0 +1,29 @@
+{
+ "controller_config": {
+ "horizon": 1.0,
+ "control_freq": 20.0,
+ "spline_order": "zero",
+ "max_opt_iters": 1,
+ "max_num_traces": 5,
+ "action_normalizer": "none"
+ },
+ "task": "cartpole",
+ "task_config": {
+ "w_vertical": 10.0,
+ "w_centered": 10.0,
+ "w_velocity": 0.1,
+ "w_control": 0.1,
+ "p_vertical": 0.01,
+ "p_centered": 0.1
+ },
+ "optimizer": "cem",
+ "optimizer_config": {
+ "num_rollouts": 32,
+ "num_nodes": 4,
+ "use_noise_ramp": true,
+ "noise_ramp": 2.5,
+ "sigma_min": 0.1,
+ "sigma_max": 1.0,
+ "num_elites": 2
+ }
+}
diff --git a/run_mpc/configs/cylinder_push.json b/run_mpc/configs/cylinder_push.json
new file mode 100644
index 00000000..f960ef39
--- /dev/null
+++ b/run_mpc/configs/cylinder_push.json
@@ -0,0 +1,28 @@
+{
+ "controller_config": {
+ "horizon": 1.0,
+ "control_freq": 20.0,
+ "spline_order": "zero",
+ "max_opt_iters": 1,
+ "max_num_traces": 5,
+ "action_normalizer": "none"
+ },
+ "task": "cylinder_push",
+ "task_config": {
+ "w_pusher_proximity": 0.5,
+ "w_pusher_velocity": 0.0,
+ "w_cart_position": 0.1,
+ "pusher_goal_offset": 0.25,
+ "goal_pos": [0.0, 0.0]
+ },
+ "optimizer": "cem",
+ "optimizer_config": {
+ "num_rollouts": 32,
+ "num_nodes": 4,
+ "use_noise_ramp": true,
+ "noise_ramp": 2.5,
+ "sigma_min": 0.1,
+ "sigma_max": 1.0,
+ "num_elites": 2
+ }
+}
diff --git a/run_mpc/configs/spot_box_push.json b/run_mpc/configs/spot_box_push.json
new file mode 100644
index 00000000..4dd675be
--- /dev/null
+++ b/run_mpc/configs/spot_box_push.json
@@ -0,0 +1,33 @@
+{
+ "controller_config": {
+ "horizon": 2.0,
+ "control_freq": 20.0,
+ "spline_order": "linear",
+ "max_opt_iters": 1,
+ "max_num_traces": 5,
+ "action_normalizer": "none"
+ },
+ "task": "spot_box_push",
+ "task_config": {
+ "fall_penalty": 2500.0,
+ "spot_fallen_threshold": 0.35,
+ "w_goal": 60.0,
+ "w_controls": 0.0,
+ "w_orientation": 15.0,
+ "w_torso_proximity": 0.1,
+ "w_gripper_proximity": 4.0,
+ "orientation_threshold": 0.5,
+ "goal_distance_threshold": 0.5,
+ "goal_pos": [0.0, 0.0, 0.254]
+ },
+ "optimizer": "cem",
+ "optimizer_config": {
+ "num_rollouts": 24,
+ "num_nodes": 3,
+ "use_noise_ramp": true,
+ "noise_ramp": 3.5,
+ "sigma_min": 0.1,
+ "sigma_max": 1.0,
+ "num_elites": 3
+ }
+}
diff --git a/run_mpc/configs/spot_navigate.json b/run_mpc/configs/spot_navigate.json
new file mode 100644
index 00000000..ad1c6e60
--- /dev/null
+++ b/run_mpc/configs/spot_navigate.json
@@ -0,0 +1,29 @@
+{
+ "controller_config": {
+ "horizon": 2.0,
+ "control_freq": 20.0,
+ "spline_order": "linear",
+ "max_opt_iters": 1,
+ "max_num_traces": 5,
+ "action_normalizer": "none"
+ },
+ "task": "spot_navigate",
+ "task_config": {
+ "fall_penalty": 2500.0,
+ "spot_fallen_threshold": 0.35,
+ "w_goal": 60.0,
+ "w_controls": 0.0,
+ "goal_distance_threshold": 0.5,
+ "goal_pos": [0.0, 0.0, 0.52]
+ },
+ "optimizer": "cem",
+ "optimizer_config": {
+ "num_rollouts": 24,
+ "num_nodes": 3,
+ "use_noise_ramp": true,
+ "noise_ramp": 3.5,
+ "sigma_min": 0.1,
+ "sigma_max": 1.0,
+ "num_elites": 3
+ }
+}
diff --git a/run_mpc/configs/spot_tire_roll.json b/run_mpc/configs/spot_tire_roll.json
new file mode 100644
index 00000000..3b3dc68f
--- /dev/null
+++ b/run_mpc/configs/spot_tire_roll.json
@@ -0,0 +1,37 @@
+{
+ "controller_config": {
+ "horizon": 2.0,
+ "control_freq": 20.0,
+ "spline_order": "linear",
+ "max_opt_iters": 1,
+ "max_num_traces": 5,
+ "action_normalizer": "none"
+ },
+ "task": "spot_tire_roll",
+ "task_config": {
+ "fall_penalty": 5000.0,
+ "spot_fallen_threshold": 0.35,
+ "tire_fallen_threshold": 0.1,
+ "w_goal": 60.0,
+ "w_controls": 0.0,
+ "w_torso_proximity": 1.0,
+ "torso_goal_offset": 1.0,
+ "w_gripper_proximity": 1.0,
+ "gripper_goal_offset": 0.15,
+ "gripper_goal_altitude": 0.05,
+ "w_tire_linear_velocity": 10.0,
+ "w_tire_angular_velocity": 0.30,
+ "goal_distance_threshold": 0.5,
+ "goal_pos": [0.0, 0.0, 0.33]
+ },
+ "optimizer": "cem",
+ "optimizer_config": {
+ "num_rollouts": 24,
+ "num_nodes": 3,
+ "use_noise_ramp": true,
+ "noise_ramp": 3.5,
+ "sigma_min": 0.1,
+ "sigma_max": 1.0,
+ "num_elites": 3
+ }
+}
diff --git a/run_mpc/configs/spot_tire_upright.json b/run_mpc/configs/spot_tire_upright.json
new file mode 100644
index 00000000..0af1d339
--- /dev/null
+++ b/run_mpc/configs/spot_tire_upright.json
@@ -0,0 +1,39 @@
+{
+ "controller_config": {
+ "horizon": 1.5,
+ "control_freq": 20.0,
+ "spline_order": "linear",
+ "max_opt_iters": 1,
+ "max_num_traces": 5,
+ "action_normalizer": "none"
+ },
+ "task": "spot_tire_upright",
+ "task_config": {
+ "fall_penalty": 10000.0,
+ "spot_fallen_threshold": 0.35,
+ "w_goal": 60.0,
+ "w_controls": 2.0,
+ "orientation_error_smoothing_width": 1.0,
+ "w_tire_orientation": 200.0,
+ "w_gripper_proximity": 10.0,
+ "w_foot_proximity": 5.0,
+ "w_torso_proximity": 5.0,
+ "gripper_too_inside_tire_penalty": 150.0,
+ "gripper_not_above_tire_penalty": 100.0,
+ "goal_pos": [
+ 0.0,
+ 0.0,
+ 0.0
+ ]
+ },
+ "optimizer": "cem",
+ "optimizer_config": {
+ "num_rollouts": 16,
+ "num_nodes": 3,
+ "use_noise_ramp": true,
+ "noise_ramp": 3.5,
+ "sigma_min": 0.1,
+ "sigma_max": 1.0,
+ "num_elites": 3
+ }
+}
diff --git a/run_mpc/mpc_batch.py b/run_mpc/mpc_batch.py
new file mode 100644
index 00000000..1c9f367e
--- /dev/null
+++ b/run_mpc/mpc_batch.py
@@ -0,0 +1,213 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""Batched MPC execution loop and trajectory storage."""
+
+import time
+from dataclasses import dataclass
+from typing import Any
+
+import numpy as np
+from tqdm import tqdm
+
+from judo.app.structs import MujocoState
+from judo.controller import BatchedControllers as JudoBatchedController
+from judo.controller import Controller as JudoController
+from judo.simulation.mj_simulation import MJSimulation
+from judo.simulation.policy_mj_simulation import PolicyMJSimulation
+from judo.visualizers.visualizer import Visualizer
+from run_mpc.mpc_config import MPCTimers, PublicMPCConfig, SizeData
+
+
+def _get_previous_actions(sims: list[MJSimulation]) -> list[np.ndarray | None]:
+ """Get previous actions from sims for hierarchical control sync."""
+ return [sim.last_policy_output if isinstance(sim, PolicyMJSimulation) else None for sim in sims]
+
+
+def update_visualization(visualizer: Visualizer, sim_state: MujocoState, traces: np.ndarray) -> None:
+ """Update the viser visualization with current sim state and traces."""
+ visualizer.data.xpos[:] = sim_state.xpos
+ visualizer.data.xquat[:] = sim_state.xquat
+ visualizer.viser_model.set_data(visualizer.data)
+ sensor_rollout_size = traces.shape[1]
+ num_trace_sensors = traces.shape[2]
+ all_traces_rollout_size = sensor_rollout_size * num_trace_sensors
+ visualizer.viser_model.set_traces(traces, all_traces_rollout_size)
+
+
+@dataclass
+class _BatchStorage:
+ """Pre-allocated NaN-padded arrays for recording batch trajectory data."""
+
+ qpos: np.ndarray
+ qvel: np.ndarray
+ control: np.ndarray
+ sensor: np.ndarray
+ reward: np.ndarray
+ rollout_states: np.ndarray | None = None
+ rollout_controls: np.ndarray | None = None
+ rollout_rewards: np.ndarray | None = None
+ control_timesteps: np.ndarray | None = None
+ control_viapoints: np.ndarray | None = None
+
+ @staticmethod
+ def allocate(num_parallel: int, size_data: SizeData, config: PublicMPCConfig) -> "_BatchStorage":
+ sd = size_data
+ storage = _BatchStorage(
+ qpos=np.full((num_parallel, sd.max_num_task_steps, sd.nq), np.nan, dtype="float64"),
+ qvel=np.full((num_parallel, sd.max_num_task_steps, sd.nv), np.nan, dtype="float64"),
+ control=np.full((num_parallel, sd.max_num_task_steps, sd.nu), np.nan, dtype="float64"),
+ sensor=np.full((num_parallel, sd.max_num_task_steps, sd.nsensordata), np.nan, dtype="float64"),
+ reward=np.full((num_parallel, sd.max_num_task_steps), np.nan, dtype="float64"),
+ )
+ if config.store_viapoints:
+ storage.control_viapoints = np.full(
+ (num_parallel, sd.max_num_mpc_steps, sd.num_nodes, sd.nu), np.nan, dtype="float64"
+ )
+ if config.store_rollouts:
+ storage.rollout_states = np.full(
+ (num_parallel, sd.max_num_mpc_steps, sd.num_rollouts, sd.num_timesteps, sd.nq + sd.nv),
+ np.nan,
+ dtype="float64",
+ )
+ storage.rollout_controls = np.full(
+ (num_parallel, sd.max_num_mpc_steps, sd.num_rollouts, sd.num_timesteps, sd.nu),
+ np.nan,
+ dtype="float64",
+ )
+ storage.rollout_rewards = np.full(
+ (num_parallel, sd.max_num_mpc_steps, sd.num_rollouts),
+ -1,
+ dtype="int",
+ )
+ storage.control_timesteps = np.full(
+ (num_parallel, sd.max_num_mpc_steps),
+ -1,
+ dtype="int",
+ )
+ return storage
+
+ def record_task_step(self, i: int, task_step: int, data: Any, task_control: np.ndarray, reward: float) -> None:
+ """Record sim state, control, and reward for one sim at one task step."""
+ self.qpos[i, task_step] = data.qpos
+ self.qvel[i, task_step] = data.qvel
+ self.control[i, task_step] = task_control
+ self.sensor[i, task_step] = data.sensordata
+ self.reward[i, task_step] = reward
+
+ def record_mpc_step(self, mpc_step: int, task_step: int, controllers: list[JudoController]) -> None:
+ """Record rollout / viapoint data for all controllers at one MPC step."""
+ for i, ctrl in enumerate(controllers):
+ if self.rollout_states is not None:
+ self.control_timesteps[i, mpc_step] = task_step # type: ignore[index]
+ self.rollout_states[i, mpc_step] = ctrl.states
+ self.rollout_controls[i, mpc_step] = ctrl.rollout_controls # type: ignore[index]
+ self.rollout_rewards[i, mpc_step] = ctrl.rewards # type: ignore[index]
+ if self.control_viapoints is not None:
+ self.control_viapoints[i, mpc_step] = ctrl.spline.y
+
+ def package_results(self, max_num_task_steps: int) -> list[dict[str, np.ndarray | int]]:
+ """Package per-trajectory result dicts from stored arrays."""
+ num_parallel = self.qpos.shape[0]
+ results: list[dict[str, np.ndarray | int]] = []
+ for i in range(num_parallel):
+ result: dict[str, np.ndarray | int] = {
+ "task_step": max_num_task_steps,
+ "qpos": self.qpos[i],
+ "qvel": self.qvel[i],
+ "control": self.control[i],
+ "sensor": self.sensor[i],
+ "reward": self.reward[i],
+ }
+ if self.control_timesteps is not None:
+ result["control_timesteps"] = self.control_timesteps[i]
+ result["rollout_states"] = self.rollout_states[i] # type: ignore[index]
+ result["rollout_controls"] = self.rollout_controls[i] # type: ignore[index]
+ result["rollout_rewards"] = self.rollout_rewards[i] # type: ignore[index]
+ if self.control_viapoints is not None:
+ result["control_viapoints"] = self.control_viapoints[i]
+ results.append(result)
+ return results
+
+
+def run_mpc_batch(
+ sims: list[MJSimulation],
+ batched_controllers: JudoBatchedController,
+ config: PublicMPCConfig,
+ size_data: SizeData,
+ timers: MPCTimers,
+ vis: Visualizer | None = None,
+) -> list[dict[str, np.ndarray | int]]:
+ """Runs MPC for one or more problems using batched controllers.
+
+ Typically for Spot tasks:
+ physics_step = model.opt.timestep = 0.01 s
+ task_step = task.dt = physics_step * num_physics_substeps = 0.01 * 2 = 0.02 s
+ mpc_step = 1 / control_freq = 1 / 10 = 0.1 s
+ tasks_steps_per_mpc_step = mpc_step / task_step = 0.1 / 0.02 = 5
+
+ We record at the task step rate (not physics step rate) since downstream
+ BC and RL applications take decisions at the task step rate.
+ """
+ num_parallel = len(sims)
+ controllers = batched_controllers.controllers
+
+ # Reset all simulations and controllers, sample new initial conditions + goals
+ for sim, ctrl in zip(sims, controllers, strict=True):
+ sim.task.reset()
+ if isinstance(sim, PolicyMJSimulation):
+ sim.reset_policy_state()
+ ctrl.reset()
+ ctrl.update_states(sim.sim_state)
+
+ # First optimization pass
+ batched_controllers.set_init_previous_actions(_get_previous_actions(sims))
+ timers.optimization.tic()
+ batched_controllers.update_action()
+ timers.optimization.toc()
+
+ storage = _BatchStorage.allocate(num_parallel, size_data, config)
+
+ mpc_step = 0
+ for task_step in tqdm(range(config.max_num_task_steps), desc=f"Task steps ({num_parallel} parallel)", leave=False):
+ # Compute control and record state for all simulations
+ for i, (sim, ctrl) in enumerate(zip(sims, controllers, strict=True)):
+ task_control = ctrl.compute(sim.task.data)
+
+ timers.reward_compute.tic()
+ reward = sim.task.reward(
+ states=np.concatenate([sim.task.data.qpos, sim.task.data.qvel], axis=0)[None, None],
+ sensors=sim.task.data.sensordata[None, None],
+ controls=task_control[None, None],
+ )[0]
+ timers.reward_compute.toc()
+
+ storage.record_task_step(i, task_step, sim.task.data, task_control, reward)
+
+ # Re-plan at MPC frequency
+ if task_step % size_data.sim_steps_per_mpc_step == 0:
+ batched_controllers.update_states([sim.sim_state for sim in sims])
+ batched_controllers.set_init_previous_actions(_get_previous_actions(sims))
+
+ timers.optimization.tic()
+ batched_controllers.update_action()
+ timers.optimization.toc()
+
+ storage.record_mpc_step(mpc_step, task_step, controllers)
+ mpc_step += 1
+
+ # Advance physics
+ timers.sim_step.tic()
+ for i, sim in enumerate(sims):
+ sim.step(storage.control[i, task_step])
+ timers.sim_step.toc()
+
+ if vis is not None and num_parallel == 1:
+ update_visualization(vis, sims[0].sim_state, controllers[0].traces)
+ time.sleep(sims[0].timestep)
+
+ results = storage.package_results(config.max_num_task_steps)
+ for i, sim in enumerate(sims):
+ results[i]["success"] = sim.task.success(sim.task.model, sim.task.data)
+ if hasattr(sim.task.config, "goal_pos"):
+ results[i]["goal_pos"] = sim.task.config.goal_pos.copy()
+ return results
diff --git a/run_mpc/mpc_config.py b/run_mpc/mpc_config.py
new file mode 100644
index 00000000..e0f1649f
--- /dev/null
+++ b/run_mpc/mpc_config.py
@@ -0,0 +1,165 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""MPC configuration dataclasses and config-loading utilities."""
+
+import logging
+from dataclasses import dataclass
+from pathlib import Path
+from typing import Any
+
+import dacite
+import numpy as np
+
+from judo.controller import Controller as JudoController
+from judo.controller import ControllerConfig
+from judo.optimizers import (
+ Optimizer,
+ OptimizerConfig,
+ get_registered_optimizers,
+)
+from judo.simulation.mj_simulation import MJSimulation
+from judo.tasks import (
+ Task as JudoTask,
+)
+from judo.tasks import (
+ TaskConfig as JudoTaskConfig,
+)
+from judo.tasks import (
+ get_registered_tasks as get_registered_judo_tasks,
+)
+from judo.tasks.spot.spot_constants import SPOT_LOCOMOTION_POLICY_PATH
+from judo.utils.timer import Timer
+
+
+def decode_config(obj: dict) -> dict:
+ """Custom JSON decoder to handle NumPy arrays and Path strings."""
+ for key, value in obj.items():
+ if isinstance(value, list) and all(isinstance(i, (int, float)) for i in value):
+ obj[key] = np.array(value)
+ if isinstance(value, str) and ("/" in value or "\\" in value):
+ obj[key] = Path(value)
+ return obj
+
+
+@dataclass
+class PublicMPCConfig:
+ """Config class for MPC runs."""
+
+ config_path: Path # Path to .json containing task/controller config for MPC run.
+ dataset_output_path: Path | None = None # Path to .h5 dataset of trajectories.
+ num_trajectories: int = 10 # Number of MPC runs to perform.
+ num_parallel: int = 1 # Number of trajectories to run in parallel (batched MPC).
+ max_num_task_steps: int = 750 # Maximum number of task steps to run per MPC run.
+ chunk_size: int = 1 # Size of the memory chunk for the h5 dataset (defaults to 1 -> 1 trajectory per chunk).
+ control_freq: float | None = None # MPC control frequency in Hz. If None, use the controller config's frequency.
+ store_rollouts: bool = True # Store open loop control inputs and state trajectories.
+ store_viapoints: bool = True # Store open loop control of the best spline.
+ require_success: bool = True # Only keep trajectories where task.success() returns True.
+ visualize: bool = False
+ locomotion_policy_path: Path = SPOT_LOCOMOTION_POLICY_PATH
+ check_nan: bool = False # Check for NaN in mujoco_warp rollout outputs (for debugging).
+
+
+@dataclass
+class SizeData:
+ """Sizes needed to calculate things in the dataset."""
+
+ max_num_task_steps: int
+ nq: int
+ nv: int
+ nu: int
+ max_num_mpc_steps: int
+ nsensordata: int
+ num_nodes: int
+ num_rollouts: int
+ num_trajectories: int
+ chunk_size: int
+ num_timesteps: int
+ sim_steps_per_mpc_step: int
+
+
+def make_size_data(sim: MJSimulation, controller: JudoController, config: PublicMPCConfig) -> SizeData:
+ """Calculates the sizes for everything."""
+ nu = sim.task.nu
+ if config.control_freq is None:
+ control_freq = controller.controller_cfg.control_freq
+ else:
+ control_freq = config.control_freq
+ sim_steps_per_mpc_step = int(1.0 / control_freq / sim.task.dt)
+ max_num_mpc_steps = np.ceil(config.max_num_task_steps / sim_steps_per_mpc_step).astype(int)
+ nq = sim.task.model.nq
+ nv = sim.task.model.nv
+ nsensordata = sim.task.model.nsensordata
+ num_nodes = controller.optimizer_cfg.num_nodes
+ num_rollouts = controller.optimizer_cfg.num_rollouts
+ return SizeData(
+ max_num_mpc_steps=max_num_mpc_steps,
+ nq=nq,
+ nv=nv,
+ nsensordata=nsensordata,
+ num_nodes=num_nodes,
+ num_rollouts=num_rollouts,
+ num_trajectories=config.num_trajectories,
+ chunk_size=config.chunk_size,
+ num_timesteps=controller.num_timesteps,
+ sim_steps_per_mpc_step=sim_steps_per_mpc_step,
+ max_num_task_steps=config.max_num_task_steps,
+ nu=nu,
+ )
+
+
+def load_configs_from_json_data(json_data: Any) -> tuple[JudoTask, Optimizer, ControllerConfig]:
+ """Loads the configs from a json file."""
+ logging.basicConfig(level=logging.INFO, format="%(levelname)s - %(message)s", handlers=[logging.StreamHandler()])
+
+ available_tasks = get_registered_judo_tasks()
+ available_optimizers = get_registered_optimizers()
+ task_entry = available_tasks.get(json_data["task"])
+ assert task_entry is not None, f"Task {json_data['task']} is not registered!"
+ optimizer_entry = available_optimizers.get(json_data["optimizer"])
+ assert optimizer_entry is not None, f"Optimizer {json_data['optimizer']} is not registered!"
+
+ task_cls, task_config_cls = task_entry
+ task_config: JudoTaskConfig = dacite.from_dict(task_config_cls, json_data["task_config"])
+ task: JudoTask = task_cls()
+ task.config = task_config
+
+ optimizer_cls, optimizer_config_cls = optimizer_entry
+ optimizer_config: OptimizerConfig = dacite.from_dict(optimizer_config_cls, json_data["optimizer_config"])
+ optimizer: Optimizer = optimizer_cls(optimizer_config, task.nu)
+
+ controller_cfg: ControllerConfig = dacite.from_dict(ControllerConfig, json_data["controller_config"])
+
+ return (
+ task,
+ optimizer,
+ controller_cfg,
+ )
+
+
+@dataclass
+class MPCTimers:
+ """Timers for measuring MPC performance."""
+
+ optimization: Timer
+ sim_step: Timer
+ reward_compute: Timer
+ h5_write: Timer
+
+ @classmethod
+ def create(cls) -> "MPCTimers":
+ """Create a new set of MPC timers."""
+ return cls(
+ optimization=Timer("Opt", unit="ms"),
+ sim_step=Timer("Sim", unit="ms"),
+ reward_compute=Timer("Rew", unit="ms"),
+ h5_write=Timer("h5p", unit="ms"),
+ )
+
+ def print_all(self) -> None:
+ """Print timing statistics for all MPC operations."""
+ logging.info("=== Performance Statistics ===")
+ self.optimization.print_stats(logging.info)
+ self.sim_step.print_stats(logging.info)
+ self.reward_compute.print_stats(logging.info)
+ self.h5_write.print_stats(logging.info)
diff --git a/run_mpc/mpc_setup.py b/run_mpc/mpc_setup.py
new file mode 100644
index 00000000..3490d3a1
--- /dev/null
+++ b/run_mpc/mpc_setup.py
@@ -0,0 +1,219 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""MPC setup (sim/controller creation) and HDF5 persistence."""
+
+import copy
+from pathlib import Path
+
+import h5py
+import numpy as np
+import warp as wp
+from mujoco import MjModel
+
+from judo.controller import BatchedControllers as JudoBatchedController
+from judo.controller import ControllerConfig
+from judo.controller.batched_spot_locomotion import BatchedSpotLocomotion
+from judo.optimizers import Optimizer
+from judo.simulation.mj_simulation import MJSimulation
+from judo.simulation.policy_mj_simulation import PolicyMJSimulation
+from judo.tasks import Task as JudoTask
+from judo.utils.mjwarp_rollout_backend import MJWarpRolloutBackend
+from run_mpc.mpc_config import PublicMPCConfig, SizeData, make_size_data
+
+MJWARP_MIN_FRICTION = 0.01 # mujoco_warp minimum sliding friction; values below this cause NaN in contact solving
+
+
+def clamp_for_mjwarp(model: MjModel, min_friction: float = MJWARP_MIN_FRICTION) -> None:
+ """Apply model fixups for mujoco_warp compatibility."""
+ # Disable fluid dynamics (not supported by mujoco_warp)
+ model.opt.density = 0
+ # Clamp geom friction to mujoco_warp minimum to avoid NaN in contact solving
+ np.maximum(model.geom_friction, min_friction, out=model.geom_friction)
+
+
+def make_locomotion_controller(use_spot: bool, policy_path: str | None, device: str) -> BatchedSpotLocomotion | None:
+ """Creates low-level locomotion controller if Spot task is used."""
+ if not use_spot or policy_path is None:
+ return None
+
+ return BatchedSpotLocomotion(
+ model_path=policy_path,
+ device=device,
+ )
+
+
+def setup_mpc(
+ config: PublicMPCConfig,
+ json_configs: dict,
+ task: JudoTask,
+ optimizer: Optimizer,
+ controller_cfg: ControllerConfig,
+ num_parallel: int,
+) -> tuple[list[MJSimulation], JudoBatchedController, SizeData]:
+ """Create simulations, GPU rollout backend, and batched controllers."""
+ use_spot = task.uses_locomotion_policy
+ policy_path = str(config.locomotion_policy_path) if use_spot else None
+ device = "cuda:0" if wp.is_cuda_available() else "cpu"
+ sims: list[MJSimulation] = []
+
+ for _ in range(num_parallel):
+ if use_spot:
+ sim = PolicyMJSimulation(init_task=json_configs["task"])
+ else:
+ sim = MJSimulation(init_task=json_configs["task"])
+ sim.task.config = copy.deepcopy(task.config)
+ clamp_for_mjwarp(sim.task.model)
+ sims.append(sim)
+
+ # Create shared GPU rollout backend for batched execution
+ locomotion_controller = make_locomotion_controller(use_spot, policy_path, device)
+ rollout_backend = MJWarpRolloutBackend(
+ model=task.model,
+ num_threads=optimizer.config.num_rollouts,
+ num_problems=num_parallel,
+ locomotion_controller=locomotion_controller,
+ device=device,
+ check_nan=config.check_nan,
+ )
+ batched_controllers = JudoBatchedController(controller_cfg, task, optimizer, rollout_backend=rollout_backend)
+ size_data = make_size_data(sims[0], batched_controllers.controllers[0], config)
+
+ return sims, batched_controllers, size_data
+
+
+def save_results_to_h5(
+ output_path: Path,
+ all_results: list[dict[str, np.ndarray | int]],
+ size_data: SizeData,
+ config: PublicMPCConfig,
+ config_path: Path,
+ json_configs: dict,
+ num_parallel: int,
+) -> None:
+ """Write all MPC results to an HDF5 file."""
+ with h5py.File(str(output_path), "w") as f:
+ # Create datasets for all fields we're logging.
+ qpos_dataset = f.create_dataset(
+ "qpos",
+ shape=(size_data.num_trajectories, size_data.max_num_task_steps, size_data.nq),
+ chunks=(size_data.chunk_size, size_data.max_num_task_steps, size_data.nq),
+ dtype="float64",
+ )
+ qvel_dataset = f.create_dataset(
+ "qvel",
+ shape=(size_data.num_trajectories, size_data.max_num_task_steps, size_data.nv),
+ chunks=(size_data.chunk_size, size_data.max_num_task_steps, size_data.nv),
+ dtype="float64",
+ )
+ control_dataset = f.create_dataset(
+ "control",
+ shape=(size_data.num_trajectories, size_data.max_num_task_steps, size_data.nu),
+ chunks=(size_data.chunk_size, size_data.max_num_task_steps, size_data.nu),
+ dtype="float64",
+ )
+ sensor_dataset = f.create_dataset(
+ "sensor",
+ shape=(size_data.num_trajectories, size_data.max_num_task_steps, size_data.nsensordata),
+ chunks=(size_data.chunk_size, size_data.max_num_task_steps, size_data.nsensordata),
+ dtype="float64",
+ )
+ reward_dataset = f.create_dataset(
+ "reward",
+ shape=(size_data.num_trajectories, size_data.max_num_task_steps),
+ dtype="float",
+ )
+ trajectory_length_dataset = f.create_dataset(
+ "trajectory_length", shape=(size_data.num_trajectories,), chunks=(size_data.chunk_size), dtype="int"
+ )
+
+ if config.store_rollouts:
+ rollout_states_dataset = f.create_dataset(
+ "rollout_states",
+ shape=(
+ size_data.num_trajectories,
+ size_data.max_num_mpc_steps,
+ size_data.num_rollouts,
+ size_data.num_timesteps,
+ size_data.nq + size_data.nv,
+ ),
+ chunks=(
+ size_data.chunk_size,
+ size_data.max_num_mpc_steps,
+ size_data.num_rollouts,
+ size_data.num_timesteps,
+ size_data.nq + size_data.nv,
+ ),
+ dtype="float64",
+ )
+ rollout_controls_dataset = f.create_dataset(
+ "rollout_controls",
+ shape=(
+ size_data.num_trajectories,
+ size_data.max_num_mpc_steps,
+ size_data.num_rollouts,
+ size_data.num_timesteps,
+ size_data.nu,
+ ),
+ chunks=(
+ size_data.chunk_size,
+ size_data.max_num_mpc_steps,
+ size_data.num_rollouts,
+ size_data.num_timesteps,
+ size_data.nu,
+ ),
+ dtype="float64",
+ )
+ rollout_rewards_dataset = f.create_dataset(
+ "rollout_rewards",
+ shape=(
+ size_data.num_trajectories,
+ size_data.max_num_mpc_steps,
+ size_data.num_rollouts,
+ ),
+ chunks=(
+ size_data.chunk_size,
+ size_data.max_num_mpc_steps,
+ size_data.num_rollouts,
+ ),
+ dtype="float64",
+ )
+
+ if config.store_viapoints:
+ control_viapoints_dataset = f.create_dataset(
+ "control_viapoints",
+ shape=(size_data.num_trajectories, size_data.max_num_mpc_steps, size_data.num_nodes, size_data.nu),
+ chunks=(size_data.chunk_size, size_data.max_num_mpc_steps, size_data.num_nodes, size_data.nu),
+ dtype="float64",
+ )
+
+ # Store goal_pos per trajectory if present
+ has_goal = "goal_pos" in all_results[0]
+ if has_goal:
+ goal_dim = len(np.asarray(all_results[0]["goal_pos"]))
+ goal_pos_dataset = f.create_dataset(
+ "goal_pos",
+ shape=(size_data.num_trajectories, goal_dim),
+ dtype="float64",
+ )
+
+ # Store configuration data.
+ f.attrs["config_path"] = str(config_path)
+ f.attrs["num_parallel"] = num_parallel
+ f.attrs["task"] = json_configs["task"]
+
+ # Write results
+ for traj_idx, result in enumerate(all_results):
+ trajectory_length_dataset[traj_idx] = result["task_step"]
+ qpos_dataset[traj_idx] = result["qpos"]
+ qvel_dataset[traj_idx] = result["qvel"]
+ control_dataset[traj_idx] = result["control"]
+ sensor_dataset[traj_idx] = result["sensor"]
+ reward_dataset[traj_idx] = result["reward"]
+ if config.store_rollouts:
+ rollout_states_dataset[traj_idx] = result["rollout_states"] # pyright: ignore[reportPossiblyUnboundVariable]
+ rollout_controls_dataset[traj_idx] = result["rollout_controls"] # pyright: ignore[reportPossiblyUnboundVariable]
+ rollout_rewards_dataset[traj_idx] = result["rollout_rewards"] # pyright: ignore[reportPossiblyUnboundVariable]
+ if config.store_viapoints:
+ control_viapoints_dataset[traj_idx] = result["control_viapoints"] # pyright: ignore[reportPossiblyUnboundVariable]
+ if has_goal:
+ goal_pos_dataset[traj_idx] = result["goal_pos"] # pyright: ignore[reportPossiblyUnboundVariable]
diff --git a/run_mpc/visualize_trajectories.py b/run_mpc/visualize_trajectories.py
new file mode 100644
index 00000000..ac29971e
--- /dev/null
+++ b/run_mpc/visualize_trajectories.py
@@ -0,0 +1,150 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+import json
+import time
+from pathlib import Path
+from typing import Optional
+
+import h5py
+import numpy as np
+import tyro
+from mujoco import MjData, mj_forward
+from viser import GuiEvent, ViserServer
+
+from judo.tasks import get_registered_tasks
+from judo.visualizers.model import ViserMjModel
+
+
+def decode_config(obj: dict) -> dict:
+ """Custom JSON decoder to handle NumPy arrays and Path strings."""
+ for key, value in obj.items():
+ if isinstance(value, list) and all(isinstance(i, (int, float)) for i in value):
+ obj[key] = np.array(value)
+ if isinstance(value, str) and ("/" in value or "\\" in value):
+ obj[key] = Path(value)
+ return obj
+
+
+def visualize_trajectory_hdf5_dataset(dataset_path: Path) -> None:
+ """Load and visualize trajectories from an HDF5 dataset."""
+ with h5py.File(str(dataset_path), "r") as f:
+ # Read task name from HDF5 attrs (preferred), with fallback to config file
+ if "task" in f.attrs:
+ task_name = f.attrs["task"]
+ else:
+ config_path = f.attrs["config_path"]
+ with open(str(config_path), "r") as config_f:
+ configs = json.load(config_f, object_hook=decode_config)
+ task_name = configs["task"]
+
+ qpos_dataset: h5py.Dataset = f["qpos"] # type: ignore[assignment]
+ trajectory_length_dataset: h5py.Dataset = f["trajectory_length"] # type: ignore[assignment]
+ goal_positions = np.array(f["goal_pos"]) if "goal_pos" in f else None
+
+ visualize_trajectory_batch(str(task_name), qpos_dataset, trajectory_length_dataset, goal_positions)
+
+
+def visualize_trajectory_batch(
+ task: str,
+ qpos_batch: np.ndarray | h5py.Dataset,
+ trajectory_lengths: Optional[np.ndarray | h5py.Dataset] = None,
+ goal_positions: Optional[np.ndarray] = None,
+) -> None:
+ """Visualize a batch of trajectories in viser."""
+ server = ViserServer()
+
+ registered_tasks = get_registered_tasks()
+ task_entry = registered_tasks.get(task)
+ assert task_entry is not None, f"Task {task} is not registered!"
+ task_cls, _ = task_entry
+ task_instance = task_cls()
+ # Increase constraint buffers for contact-heavy scenes (e.g. Spot + tire).
+ task_instance.spec.nconmax = 512
+ task_instance.spec.njmax = 2048
+ task_instance.model = task_instance.spec.compile()
+ task_instance.data = MjData(task_instance.model)
+ viser_mjmodel = ViserMjModel(server, task_instance.spec)
+
+ # Render goal position marker if available
+ goal_handle = None
+ if goal_positions is not None:
+ goal = goal_positions[0]
+ goal_handle = server.scene.add_icosphere(
+ "/goal_marker",
+ radius=0.1,
+ color=(0, 255, 0),
+ position=(goal[0], goal[1], 0.0),
+ )
+
+ # Create GUI elements for controlling visualizer.
+ running = False
+ pause_button = server.gui.add_button("Start playback")
+
+ def cycle_pause_button() -> None:
+ nonlocal running
+ if running:
+ running = False
+ pause_button.label = "Start playback"
+ else:
+ running = True
+ pause_button.label = "Pause playback"
+
+ @pause_button.on_click
+ def cycle_pause_button_callback(_: GuiEvent) -> None:
+ """Handle GUI callback."""
+ cycle_pause_button()
+
+ trajectory_slider = server.gui.add_slider(
+ "Trajectory index", min=0, max=len(qpos_batch) - 1, step=1, initial_value=0
+ )
+ if trajectory_lengths:
+ curr_trajectory_length = trajectory_lengths[trajectory_slider.value] - 1
+ else:
+ curr_trajectory_length = len(qpos_batch[trajectory_slider.value]) - 1
+ timestep_slider = server.gui.add_slider(
+ "Trajectory timestep", min=0, max=curr_trajectory_length, step=1, initial_value=0
+ )
+
+ # Initialize visualization with the first state
+ task_instance.data.qpos[:] = qpos_batch[0, 0]
+ mj_forward(task_instance.model, task_instance.data)
+ viser_mjmodel.set_data(task_instance.data)
+
+ @trajectory_slider.on_update
+ def trajectory_slider_on_update_callback(_: GuiEvent) -> None:
+ """Handle GUI callback."""
+ # Reset timestep to zero for new trajectory.
+ timestep_slider.value = 0
+ # Change timestep bounds.
+ if trajectory_lengths is not None:
+ nonlocal curr_trajectory_length
+ curr_trajectory_length = trajectory_lengths[trajectory_slider.value] - 1
+ timestep_slider.max = curr_trajectory_length
+ # Update goal marker position for this trajectory
+ if goal_handle is not None and goal_positions is not None:
+ goal = goal_positions[trajectory_slider.value]
+ goal_handle.position = (goal[0], goal[1], 0.0)
+
+ @timestep_slider.on_update
+ def timestep_slider_on_update_callback(_: GuiEvent) -> None:
+ """Handle GUI callback."""
+ # Update the viser_mjmodel's data object
+ qpos_value = qpos_batch[trajectory_slider.value, timestep_slider.value]
+ task_instance.data.qpos[:] = qpos_value
+ mj_forward(task_instance.model, task_instance.data)
+ viser_mjmodel.set_data(task_instance.data)
+
+ try:
+ while True:
+ if running:
+ timestep_slider.value = min(curr_trajectory_length, timestep_slider.value + 1)
+ if timestep_slider.value == curr_trajectory_length:
+ cycle_pause_button()
+
+ time.sleep(task_instance.model.opt.timestep)
+ except KeyboardInterrupt:
+ print("Closing Judo...")
+
+
+if __name__ == "__main__":
+ tyro.cli(visualize_trajectory_hdf5_dataset)
diff --git a/tests/test_run_mpc.py b/tests/test_run_mpc.py
new file mode 100644
index 00000000..1d29d548
--- /dev/null
+++ b/tests/test_run_mpc.py
@@ -0,0 +1,184 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+"""End-to-end tests for run_mpc: config loading, MPC execution, data collection, and H5 output."""
+
+import json
+from pathlib import Path
+from typing import Any
+
+import numpy as np
+import pytest
+
+try:
+ import h5py
+ import warp as wp
+
+ from run_mpc.mpc_batch import run_mpc_batch
+ from run_mpc.mpc_config import MPCTimers, PublicMPCConfig, decode_config, load_configs_from_json_data
+ from run_mpc.mpc_setup import clamp_for_mjwarp, save_results_to_h5, setup_mpc
+
+ _has_gpu = wp.is_cuda_available()
+except ImportError:
+ _has_gpu = False
+
+# Skip the entire module at collection time if warp/GPU is unavailable,
+# since run_mpc imports warp at module level.
+if not _has_gpu:
+ pytest.skip("requires CUDA GPU (warp)", allow_module_level=True)
+
+CONFIGS_DIR = Path(__file__).resolve().parent.parent / "run_mpc" / "configs"
+
+# Tasks to run end-to-end: (task_name, config_file, expected_nu, is_spot)
+# expected_nu: number of task-level control dimensions (not model actuators)
+# is_spot: whether the task uses a locomotion policy (affects sim backend)
+E2E_TASKS = [
+ ("cartpole", "cartpole.json", 1, False),
+ ("cylinder_push", "cylinder_push.json", 2, False),
+ ("spot_navigate", "spot_navigate.json", 3, True),
+ ("spot_box_push", "spot_box_push.json", 10, True),
+ ("spot_tire_roll", "spot_tire_roll.json", 11, True),
+ ("spot_tire_upright", "spot_tire_upright.json", 17, True),
+]
+
+MAX_NUM_TASK_STEPS = 10
+
+
+def _load_json(config_name: str) -> dict:
+ """Load and decode a JSON config file."""
+ config_path = CONFIGS_DIR / config_name
+ with open(config_path) as f:
+ return json.load(f, object_hook=decode_config)
+
+
+def _make_config(config_file: str) -> PublicMPCConfig:
+ """Create a lightweight MPC config for testing."""
+ return PublicMPCConfig(
+ config_path=CONFIGS_DIR / config_file,
+ num_trajectories=1,
+ num_parallel=1,
+ max_num_task_steps=MAX_NUM_TASK_STEPS,
+ store_rollouts=True,
+ store_viapoints=True,
+ require_success=False,
+ )
+
+
+# Module-scoped fixture: runs MPC once per task, shared across all tests.
+@pytest.fixture(scope="module", params=E2E_TASKS, ids=[t[0] for t in E2E_TASKS])
+def mpc_run(request: pytest.FixtureRequest, tmp_path_factory: pytest.TempPathFactory) -> dict[str, Any]:
+ """Set up and run MPC for a single task, returning all artifacts for inspection."""
+ task_name, config_file, expected_nu, is_spot = request.param
+
+ json_data = _load_json(config_file)
+ task, optimizer, controller_cfg = load_configs_from_json_data(json_data)
+ clamp_for_mjwarp(task.model)
+
+ config = _make_config(config_file)
+ sims, batched_controllers, size_data = setup_mpc(
+ config, json_data, task, optimizer, controller_cfg, config.num_parallel
+ )
+
+ timers = MPCTimers.create()
+ batch_results = run_mpc_batch(sims, batched_controllers, config, size_data, timers)
+
+ # Save to H5
+ tmp_dir = tmp_path_factory.mktemp(task_name)
+ output_path = tmp_dir / "trajectories.h5"
+ size_data.num_trajectories = len(batch_results)
+ save_results_to_h5(
+ output_path,
+ batch_results,
+ size_data,
+ config,
+ CONFIGS_DIR / config_file,
+ json_data,
+ config.num_parallel,
+ )
+
+ return {
+ "task_name": task_name,
+ "expected_nu": expected_nu,
+ "is_spot": is_spot,
+ "task": task,
+ "config": config,
+ "size_data": size_data,
+ "results": batch_results,
+ "h5_path": output_path,
+ }
+
+
+class TestMPCExecution:
+ """Test that MPC runs and produces valid trajectory data."""
+
+ def test_result_keys(self, mpc_run: dict[str, Any]) -> None:
+ """Each result dict should contain required trajectory data keys."""
+ result = mpc_run["results"][0]
+ required_keys = {"task_step", "qpos", "qvel", "control", "sensor", "reward", "success"}
+ assert required_keys.issubset(result.keys())
+
+ def test_qpos_shape(self, mpc_run: dict[str, Any]) -> None:
+ """Qpos shape should match (max_steps, nq)."""
+ result = mpc_run["results"][0]
+ nq = mpc_run["task"].model.nq
+ assert result["qpos"].shape == (MAX_NUM_TASK_STEPS, nq)
+
+ def test_qvel_shape(self, mpc_run: dict[str, Any]) -> None:
+ """Qvel shape should match (max_steps, nv)."""
+ result = mpc_run["results"][0]
+ nv = mpc_run["task"].model.nv
+ assert result["qvel"].shape == (MAX_NUM_TASK_STEPS, nv)
+
+ def test_control_shape(self, mpc_run: dict[str, Any]) -> None:
+ """Control shape should match (max_steps, expected_nu)."""
+ result = mpc_run["results"][0]
+ assert result["control"].shape == (MAX_NUM_TASK_STEPS, mpc_run["expected_nu"])
+
+ def test_reward_shape_and_finite(self, mpc_run: dict[str, Any]) -> None:
+ """Rewards should be finite with correct shape."""
+ result = mpc_run["results"][0]
+ assert result["reward"].shape == (MAX_NUM_TASK_STEPS,)
+ assert np.all(np.isfinite(result["reward"]))
+
+ def test_qpos_has_data(self, mpc_run: dict[str, Any]) -> None:
+ """Qpos should have real data, not all NaN."""
+ result = mpc_run["results"][0]
+ assert not np.all(np.isnan(result["qpos"]))
+
+ def test_rollout_and_viapoint_data_present(self, mpc_run: dict[str, Any]) -> None:
+ """Rollout and viapoint data should be stored when requested."""
+ result = mpc_run["results"][0]
+ assert "rollout_states" in result
+ assert "rollout_controls" in result
+ assert "rollout_rewards" in result
+ assert "control_viapoints" in result
+
+
+class TestH5Output:
+ """Test saving results to HDF5 and reading them back."""
+
+ def test_h5_structure(self, mpc_run: dict[str, Any]) -> None:
+ """HDF5 file should have correct dataset shapes and metadata."""
+ h5_path = mpc_run["h5_path"]
+ task = mpc_run["task"]
+ num_saved = len(mpc_run["results"])
+
+ with h5py.File(str(h5_path), "r") as f:
+ qpos_ds: h5py.Dataset = f["qpos"] # type: ignore[assignment]
+ qvel_ds: h5py.Dataset = f["qvel"] # type: ignore[assignment]
+ control_ds: h5py.Dataset = f["control"] # type: ignore[assignment]
+ sensor_ds: h5py.Dataset = f["sensor"] # type: ignore[assignment]
+ reward_ds: h5py.Dataset = f["reward"] # type: ignore[assignment]
+ traj_len_ds: h5py.Dataset = f["trajectory_length"] # type: ignore[assignment]
+
+ assert qpos_ds.shape == (num_saved, MAX_NUM_TASK_STEPS, task.model.nq)
+ assert qvel_ds.shape == (num_saved, MAX_NUM_TASK_STEPS, task.model.nv)
+ assert control_ds.shape == (num_saved, MAX_NUM_TASK_STEPS, mpc_run["expected_nu"])
+ assert sensor_ds.shape == (num_saved, MAX_NUM_TASK_STEPS, task.model.nsensordata)
+ assert reward_ds.shape == (num_saved, MAX_NUM_TASK_STEPS)
+ assert traj_len_ds.shape == (num_saved,)
+
+ assert "rollout_states" in f
+ assert "control_viapoints" in f
+ assert "task" in f.attrs
+
+ assert np.any(np.isfinite(qpos_ds[0]))