gobot 0.1.9

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
uv sync
uv run gobot_editor

For a direct CMake build, use the Python selected by uv:

cmake -S . -B build -DPython3_EXECUTABLE="$(uv python find)"
cmake --build build -j
./build/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:

uv sync --extra train

train installs PyTorch, rsl-rl-lib, tensordict, and tensorboard for training or directly loading .pt checkpoints. It does not install Python mujoco; Gobot uses its packaged native MuJoCo backend. Install imageio imageio-ffmpeg only for MP4 training captures, and onnx>=1.16 only for exporting checkpoints to ONNX.

Run example training through uv rather than a conda Python path:

uv run --extra train python examples/go1/train/go1_velocity_train.py --task go1_rough --num-envs 256 --iterations 1500

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
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.
• Packaged examples: gobot/examples/ in wheels and examples/ in source.
• MuJoCo RL roadmap: doc/mujoco_rl_plan.md.