gobot 0.1.7

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 Linux wheels.

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
python -m pip install -e . -Cbuild-dir=build/editable
gobot_editor

For a direct CMake build, compile the current environment's libpython path into the launcher:

cmake -S . -B build/local \
  -DGOBOT_PYTHON_LIBRARY="$CONDA_PREFIX/lib/libpython3.12.so"
cmake --build build/local -j
./build/local/python/gobot/gobot_editor

At runtime, GOBOT_PYTHON_LIBRARY=/other/libpython.so still overrides the compiled default.

The default install includes the lightweight ONNX Runtime path used for example policy playback. The heavier training stack stays optional:

python -m pip install -e ".[train]" -Cbuild-dir=build/editable

train installs torch, rsl-rl-lib, tensordict, and tensorboard for training or directly loading .pt checkpoints.

For verbose rebuild output:

python -m pip install -v -e . -Cbuild-dir=build/editable -Cbuild.verbose=true

For repeated C++ edit/build cycles, keep build-dir fixed so CMake and Ninja can reuse the previous build tree. If the build requirements are already installed in the active Python environment, --no-build-isolation avoids creating a temporary build environment on every reinstall:

python -m pip install -e . --no-build-isolation -Cbuild-dir=build/editable

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

Local Wheel Build

From a source checkout:

git clone https://github.com/RobSimulatorGroup/gobot.git
cd gobot
git submodule update --init --recursive
python -m pip install -U build scikit-build-core
python -m build --wheel
python -m pip install --force-reinstall dist/gobot-*.whl

For a faster local build without MuJoCo:

python -m build --wheel -Ccmake.define.GOB_BUILD_MUJOCO=OFF

Notes

• Supported platform: Linux.
• Python package name: gobot.
• MuJoCo support is included in release wheels when available in the build.
• Packaged examples: gobot/examples/ in wheels and examples/ in source.
• MuJoCo RL roadmap: doc/mujoco_rl_plan.md.