robovast_sim_roqsim

The roqsim (MuJoCo) simulator backend for RoboVAST.

Registers one robovast.simulators entry point, so a campaign selects the simulator by name:

execution:
  mode: ros2
  containers:
    simulation:
      backend: roqsim
      config: worlds/depot.yaml

Everything else — the image, the command, the GL/record environment, which files the world is made of — comes from the backend rather than from the .vast.

Installation

It ships as a RoboVAST extra:

pip install 'robovast[roqsim]'

pip install robovast deliberately gets you nothing from here: RoboVAST names no simulator, so a backend is always something you add. The default service/controller image installs this extra, which is what lets backend: roqsim resolve on a cluster without the campaign shipping anything.

From source

pip install -e .

Scope

This package must import without roqsim installed — it runs in the long-lived RoboVAST service process, which has no reason to carry a MuJoCo runtime. It declares strings and container specs; anything that genuinely needs the simulator (such as enumerating the files a world is built from) runs inside roqsim's own image.