gobot 0.1.13

Python bindings for the Gobot robotics scene, simulation, and rendering engine.

gobot

Gobot is a Linux robotics simulation package with a Python-first workflow. Use it from Python to create scenes, step simulation, inspect robot state, and drive reinforcement-learning experiments.

Install

Gobot currently publishes full-featured Linux x86_64 wheels for NVIDIA GPU systems. The wheel includes CPU simulation, MuJoCo Warp training dependencies, and the LuisaCompute CUDA viewport renderer.

pip install gobot -i https://pypi.org/simple

Check the install:

import gobot

print(gobot.__file__)
print(gobot.__version__)
print(gobot.backend_infos())

Python Usage

Set a project root before using res:// paths:

import gobot

gobot.set_project_path("/path/to/project")
scene = gobot.load_scene("res://world.jscn")

print(scene.root.name)

Editor

Start the editor from the Python environment you want Gobot to use:

gobot_editor

For source checkout development:

cd /path/to/gobot
scripts/build_luisa_compute.sh
uv sync
uv run gobot_editor --path examples/go1

uv sync installs Gobot editable: Python files import directly from the checkout, while _core, libgobot, and gobot_editor come from the same build installed in .venv. After changing C++ or CMake files, rebuild and reinstall only Gobot:

uv sync --reinstall-package gobot --no-build-isolation-package gobot

The initial uv sync installs the build backend in .venv; disabling build isolation on later native rebuilds prevents CMake from caching a temporary build environment's Python executable.

Python-only edits need no rebuild. Do not add PYTHONPATH or launch an editor from build/python; that can combine source files, native extensions, and executables from different builds. The package launcher selects the native artifacts installed in its own environment.

uv run is environment activation, not a separate Gobot runtime. These are equivalent after uv sync:

uv run gobot_editor --path examples/go1
.venv/bin/gobot_editor --path examples/go1

Alternatively, run source .venv/bin/activate once and then use gobot_editor or python directly. At runtime, GOBOT_PYTHON_LIBRARY=/other/libpython.so still overrides automatic libpython discovery.

For a standalone CMake build used by C++ tests, use a separate build directory and the Python selected by uv:

cmake -S . -B build/dev -DPython3_EXECUTABLE="$(uv python find)"
cmake --build build/dev -j
ctest --test-dir build/dev --output-on-failure

Python CTest cases run against build/dev/python in an isolated interpreter, so an older editable _core in .venv cannot shadow the artifact under test. That standalone build is not the artifact used by the .venv console script; run the following command when the installed editor must be updated:

uv sync --reinstall-package gobot --no-build-isolation-package gobot

The default environment includes ONNX Runtime, PyTorch, rsl_rl, MuJoCo Warp, training logs, video capture, and ONNX export support. There are no separate CPU, CUDA, or training extras. Selecting mujoco-cpu or mujoco-warp remains an explicit runtime choice; requesting Warp never silently falls back to CPU.

Run Go1 rough-terrain training on MuJoCo Warp through uv:

uv run \
  python -m examples.go1.train.go1_velocity_train \
  --backend mujoco-warp \
  --device cuda:0 \
  --num-envs 256 \
  --iterations 10000 \
  --no-step-extras

Select the CPU semantic baseline explicitly when CUDA is not desired:

uv run \
  python -m examples.go1.train.go1_velocity_train \
  --backend mujoco-cpu \
  --device cpu \
  --num-envs 64 \
  --iterations 10000

Packaged examples are available from the editor start screen under Examples. See doc/examples.md for packaging details.

Examples

Example	Preview
CartPole
Go1 policy playback

Local Wheel Build

From a source checkout:

git clone https://github.com/RobSimulatorGroup/gobot.git
cd gobot
git submodule update --init --recursive
scripts/build_luisa_compute.sh
uv run --with build python -m build --wheel
uv pip install --force-reinstall dist/gobot-*.whl

Notes

• Supported platform: Linux.
• Python package name: gobot.
• MuJoCo support is included in release wheels when available in the build.
• Release wheels install the MuJoCo Warp Python provider and LuisaCompute CUDA renderer by default; neither becomes a C++ scene API.
• A system CUDA Toolkit is needed to build from source, but not to use a wheel. Wheel users need a compatible NVIDIA driver providing libcuda.so.1 and the system libglvnd EGL/OpenGL dispatch libraries. Driver libraries are not copied into the wheel because they must match the target machine's driver.
• Packaged examples: gobot/examples/ in wheels and examples/ in source.
• MuJoCo RL roadmap: doc/mujoco_rl_plan.md.
• Luisa CUDA renderer architecture and build guide: doc/luisa_rendering_plan.md.