Import upstream snapshot c19f713c415a699a79d71cd96aa13c3104a05047

Upstream: https://github.com/michaelgillett/mjlab
Upstream-Commit: c19f713c415a699a79d71cd96aa13c3104a05047
Upstream-Branch: main

.github/workflows/ci.yml

@@ -0,0 +1,156 @@
+name: tests
+
+on:
+  push:
+    branches: [main]
+    paths-ignore:
+      - '**.md'
+      - '**.rst'
+      - 'docs/**'
+      - 'Makefile'
+      - 'LICENSE'
+      - 'scripts/benchmarks/**'
+  pull_request:
+    branches: [main]
+    paths-ignore:
+      - '**.md'
+      - '**.rst'
+      - 'docs/**'
+      - 'Makefile'
+      - 'LICENSE'
+      - 'scripts/benchmarks/**'
+
+env:
+  UV_FROZEN: "1"
+
+jobs:
+  lint-format:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          enable-cache: true
+          version: "0.12.1"
+      - name: Run lint
+        run: uvx ruff@0.16.1 check --diff
+      - name: Run format
+        run: uvx ruff@0.16.1 format --diff
+
+  tests:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+        resolution: ["locked"]
+        # Also test against a fresh resolve of the latest compatible
+        # dependencies so a new upstream release breaks a PR instead of a
+        # release.
+        include:
+          - python-version: "3.13"
+            resolution: "unlocked"
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          python-version: ${{ matrix.python-version }}
+          enable-cache: true
+          version: "0.12.1"
+      - name: Restore Warp kernel cache
+        uses: actions/cache@55cc8345863c7cc4c66a329aec7e433d2d1c52a9 # v6.1.0
+        with:
+          path: ~/.cache/warp
+          key: warp-kernels-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python-version }}-${{ matrix.resolution }}-${{ hashFiles('uv.lock', 'mjlab/**/*.py') }}
+          restore-keys: |
+            warp-kernels-${{ runner.os }}-${{ runner.arch }}-${{ matrix.python-version }}-${{ matrix.resolution }}-
+      - name: Test with python ${{ matrix.python-version }} (locked deps)
+        if: matrix.resolution == 'locked'
+        run: uv run --extra cpu pytest
+      - name: Test with python ${{ matrix.python-version }} (latest deps)
+        if: matrix.resolution == 'unlocked'
+        env:
+          UV_FROZEN: "0"
+        run: uv run --extra cpu --upgrade pytest
+
+  pyright:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          python-version: ${{ matrix.python-version }}
+          enable-cache: true
+          version: "0.12.1"
+      - name: Test with python ${{ matrix.python-version }}
+        run: uv run --extra cpu pyright
+
+  ty-check:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          python-version: ${{ matrix.python-version }}
+          enable-cache: true
+          version: "0.12.1"
+      - name: Type check with python ${{ matrix.python-version }}
+        run: uv run --extra cpu ty check
+
+  stubs:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          enable-cache: true
+          version: "0.12.1"
+      - name: Sync environment
+        run: uv sync --extra cpu
+      - name: Regenerate MuJoCo stubs
+        run: bash typings/generate_mujoco_stubs.sh
+      - name: Verify stubs are up to date
+        run: |
+          if ! git diff --exit-code typings/mujoco; then
+            echo "::error::MuJoCo type stubs are out of date. Run 'make stubs' and commit the result."
+            exit 1
+          fi
+
+  # Mirrors the release smoke test: build the artifacts and import mjlab from an
+  # isolated, freshly resolved install, so packaging and clean-install issues
+  # surface on the PR instead of at publish time.
+  smoke-test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          enable-cache: true
+          version: "0.12.1"
+      - name: Install Python 3.13
+        run: uv python install 3.13
+      - name: Build
+        run: uv build
+      # MUJOCO_GL=disable so `import mujoco` skips its GL backend import; the
+      # runner has no GL libraries and the smoke test does not render.
+      - name: Smoke test (wheel)
+        run: uv run --isolated --no-project --with dist/*.whl tests/smoke_test.py
+        env:
+          MUJOCO_GL: disable
+      - name: Smoke test (source distribution)
+        run: uv run --isolated --no-project --with dist/*.tar.gz tests/smoke_test.py
+        env:
+          MUJOCO_GL: disable

.github/workflows/claude-code-review.yml

@@ -0,0 +1,39 @@
+name: Claude Code Review
+
+on:
+  pull_request:
+    types: [opened, synchronize, ready_for_review, reopened]
+    # Optional: Only run on specific file changes
+    # paths:
+    #   - "src/**/*.ts"
+    #   - "src/**/*.tsx"
+    #   - "src/**/*.js"
+    #   - "src/**/*.jsx"
+
+jobs:
+  claude-review:
+    if: github.event.pull_request.user.login == 'kevinzakka'
+
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: read
+      issues: read
+      id-token: write
+
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          fetch-depth: 1
+
+      - name: Run Claude Code Review
+        id: claude-review
+        uses: anthropics/claude-code-action@be7b93b1907a4abad570368f3c74b6fe3807510b # v1
+        with:
+          claude_code_oauth_token: ${{ secrets.CLAUDE_CODE_OAUTH_TOKEN }}
+          plugin_marketplaces: 'https://github.com/anthropics/claude-code.git'
+          plugins: 'code-review@claude-code-plugins'
+          prompt: '/code-review:code-review ${{ github.repository }}/pull/${{ github.event.pull_request.number }}'
+          # See https://github.com/anthropics/claude-code-action/blob/main/docs/usage.md
+          # or https://code.claude.com/docs/en/cli-reference for available options

.github/workflows/claude.yml

@@ -0,0 +1,49 @@
+name: Claude Code
+
+on:
+  issue_comment:
+    types: [created]
+  pull_request_review_comment:
+    types: [created]
+  issues:
+    types: [opened, assigned]
+  pull_request_review:
+    types: [submitted]
+
+jobs:
+  claude:
+    if: |
+      (github.event_name == 'issue_comment' && contains(github.event.comment.body, '@claude')) ||
+      (github.event_name == 'pull_request_review_comment' && contains(github.event.comment.body, '@claude')) ||
+      (github.event_name == 'pull_request_review' && contains(github.event.review.body, '@claude')) ||
+      (github.event_name == 'issues' && (contains(github.event.issue.body, '@claude') || contains(github.event.issue.title, '@claude')))
+    runs-on: ubuntu-latest
+    permissions:
+      contents: read
+      pull-requests: read
+      issues: read
+      id-token: write
+      actions: read # Required for Claude to read CI results on PRs
+    steps:
+      - name: Checkout repository
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          fetch-depth: 1
+
+      - name: Run Claude Code
+        id: claude
+        uses: anthropics/claude-code-action@be7b93b1907a4abad570368f3c74b6fe3807510b # v1
+        with:
+          claude_code_oauth_token: ${{ secrets.CLAUDE_CODE_OAUTH_TOKEN }}
+
+          # This is an optional setting that allows Claude to read CI results on PRs
+          additional_permissions: |
+            actions: read
+
+          # Optional: Give a custom prompt to Claude. If this is not specified, Claude will perform the instructions specified in the comment that tagged it.
+          # prompt: 'Update the pull request description to include a summary of changes.'
+
+          # Optional: Add claude_args to customize behavior and configuration
+          # See https://github.com/anthropics/claude-code-action/blob/main/docs/usage.md
+          # or https://code.claude.com/docs/en/cli-reference for available options
+          # claude_args: '--allowed-tools Bash(gh pr *)'

.github/workflows/docker.yml

@@ -0,0 +1,91 @@
+name: Docker
+
+on:
+  workflow_dispatch:
+
+  push:
+    branches:
+      - "main"
+
+  pull_request:
+    types:
+      - opened
+      - reopened
+      - synchronize
+      - ready_for_review
+
+concurrency:
+  group: docker-${{ github.ref }}
+  cancel-in-progress: true
+
+defaults:
+  run:
+    shell: bash
+
+env:
+  FORCE_COLOR: 1
+  REGISTRY: ghcr.io
+  IMAGE_NAME: mujocolab/mjlab
+
+permissions:
+  id-token: write
+  packages: write
+
+jobs:
+  check_paths:
+    runs-on: ubuntu-22.04
+    outputs:
+      build: ${{ steps.filter.outputs.any }}
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - id: filter
+        uses: dorny/paths-filter@7b450fff21473bca461d4b92ce414b9d0420d706 # v4.0.2
+        with:
+          list-files: shell
+          filters: |
+            any:
+              - ".github/workflows/docker.yml"
+              - "Dockerfile"
+
+  build:
+    needs: check_paths
+    if: ${{ needs.check_paths.outputs.build == 'true' }}
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Checkout repo
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+
+      - name: Setup Docker buildx
+        uses: docker/setup-buildx-action@bb05f3f5519dd87d3ba754cc423b652a5edd6d2c # v4.2.0
+
+      - name: Log into registry
+        uses: docker/login-action@dbcb813823bdd20940b903addbd779551569679f # v4.6.0
+        with:
+          registry: ${{ env.REGISTRY }}
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Extract Docker metadata
+        id: meta
+        uses: docker/metadata-action@dc802804100637a589fabce1cb79ff13a1411302 # v6.2.0
+        with:
+          images: ${{ env.REGISTRY }}/${{ env.IMAGE_NAME }}
+          tags: |
+            type=ref,event=branch
+            type=raw,value=latest,enable={{is_default_branch}}
+
+      - name: Build and push Docker image
+        uses: docker/build-push-action@53b7df96c91f9c12dcc8a07bcb9ccacbed38856a # v7.3.0
+        with:
+          context: .
+          push: ${{ github.ref == 'refs/heads/main' }}
+          tags: ${{ steps.meta.outputs.tags }}
+          labels: ${{ steps.meta.outputs.labels }}
+          cache-from: |
+            type=gha
+            type=registry,ref=ghcr.io/mujocolab/mjlab/mjlab:buildcache
+          cache-to: |
+            type=gha,mode=max
+            type=registry,ref=ghcr.io/mujocolab/mjlab/mjlab:buildcache,mode=max
+          platforms: linux/amd64

.github/workflows/docs.yml

@@ -0,0 +1,47 @@
+name: docs
+
+on:
+  push:
+    branches:
+      - main
+    tags:
+      - 'v*'
+
+permissions:
+  contents: write
+
+env:
+  UV_FROZEN: "1"
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+        with:
+          fetch-depth: 0
+
+      - uses: actions/setup-python@5fda3b95a4ea91299a34e894583c3862153e4b97 # v7.0.0
+        with:
+          python-version: '3.13'
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          version: "0.12.1"
+
+      - name: Build Sphinx Documentation
+        run: uv run --group docs sphinx-multiversion docs docs/_build
+
+      - name: Add root redirect
+        run: echo '<meta http-equiv="refresh" content="0; url=main/index.html">' > docs/_build/index.html
+
+      - name: Remove Sphinx build artifacts
+        run: find docs/_build -type d -name .doctrees -exec rm -rf {} +
+
+      - name: Deploy to GitHub Pages
+        uses: peaceiris/actions-gh-pages@84c30a85c19949d7eee79c4ff27748b70285e453 # v4.1.0
+        with:
+          github_token: ${{ secrets.GITHUB_TOKEN }}
+          publish_dir: ./docs/_build/
+          keep_files: true

.github/workflows/nightly.yml

@@ -0,0 +1,37 @@
+name: nightly
+
+# Early warning: upgrade every dependency to its latest version and run the
+# test suite, so an upstream release that breaks mjlab shows up here rather than
+# in a user's install or at release time.
+
+on:
+  schedule:
+    - cron: "17 11 * * *"  # Daily at 11:17 UTC (off the hour to reduce delay).
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  latest-deps:
+    name: Test against latest dependencies (py${{ matrix.python-version }})
+    # Skip on forks; scheduled runs only make sense on the canonical repo.
+    if: github.repository == 'mujocolab/mjlab'
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.10", "3.13"]
+    steps:
+      - uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Setup uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          python-version: ${{ matrix.python-version }}
+          version: "0.12.1"
+      - name: Upgrade all dependencies to latest
+        run: uv lock --upgrade
+      - name: Show dependency tree
+        run: uv tree
+      - name: Test
+        run: uv run --extra cpu pytest

.github/workflows/release.yml

@@ -0,0 +1,40 @@
+name: "Publish"
+
+on:
+  push:
+    tags:
+      - v*
+
+jobs:
+  run:
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+    permissions:
+      id-token: write
+      contents: read
+    steps:
+      - name: Checkout
+        uses: actions/checkout@3d3c42e5aac5ba805825da76410c181273ba90b1 # v7.0.1
+      - name: Install uv
+        uses: astral-sh/setup-uv@c771a70e6277c0a99b617c7a806ffedaca235ff9 # v9.0.0
+        with:
+          version: "0.12.1"
+      - name: Install Python 3.13
+        run: uv python install 3.13
+      - name: Build
+        run: uv build
+      # MUJOCO_GL=disable so `import mujoco` skips its GL backend import. Without
+      # it, mujoco 3.10 eagerly imports the EGL bindings at import time (mjlab
+      # defaults MUJOCO_GL=egl on Linux) and crashes on the runner, which has no
+      # GL libraries. The smoke test does not render, so disabling GL is fine.
+      - name: Smoke test (wheel)
+        run: uv run --isolated --no-project --with dist/*.whl tests/smoke_test.py
+        env:
+          MUJOCO_GL: disable
+      - name: Smoke test (source distribution)
+        run: uv run --isolated --no-project --with dist/*.tar.gz tests/smoke_test.py
+        env:
+          MUJOCO_GL: disable
+      - name: Publish
+        run: uv publish