code upload

.github/workflows/black.yml

@@ -0,0 +1,19 @@
+name: Lint
+
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+
+jobs:
+  lint:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Format code with Black
+        uses: psf/black@stable
+        with:
+          src: moojoco_env/

.github/workflows/pypi_publish.yml

@@ -0,0 +1,34 @@
+# This workflow uses actions that are not certified by GitHub.
+# They are provided by a third-party and are governed by
+# separate terms of service, privacy policy, and support
+# documentation.
+
+# GitHub recommends pinning actions to a commit SHA.
+# To get a newer version, you will need to update the SHA.
+# You can also reference a tag or branch, but the action may change without warning.
+
+name: Upload Python Package
+
+on:
+  release:
+    types: [published]
+
+jobs:
+  deploy:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v4
+        with:
+          python-version: '3.x'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install build
+      - name: Build package
+        run: python -m build
+      - name: Publish package
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          password: ${{ secrets.PYPI_TOKEN }}

.gitignore

@@ -157,4 +157,5 @@ cython_debug/
 #  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
 #  and can be added to the global gitignore or merged into this file.  For a more nuclear
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
-#.idea/
+.idea/
+

LICENSE

@@ -1,6 +1,6 @@
 MIT License
 
-Copyright (c) 2024 Co-Evolve
+Copyright (c) 2023 Co-Evolve
 
 Permission is hereby granted, free of charge, to any person obtaining a copy
 of this software and associated documentation files (the "Software"), to deal

MANIFEST.in

@@ -0,0 +1 @@
+include requirements.txt

README.md

@@ -1,2 +1,53 @@
-# moojoco-utils
-A unified framework for implementing and interfacing with MuJoCo and MuJoCo-XLA simulation environments.
+# moojoco-env
+
+**moojoco-env** provides a unified framework for implementing and interfacing with MuJoCo and MuJoCo-XLA simulation
+environments.
+The main goal of this framework is to **unify** the development and interfaces of environments implemented in native
+MuJoCo (MJC) and MuJoCo-XLA (MJX).
+
+## MJCFMorphology and MJCFArena
+
+* Both are parameterized/reconfigurable MJCF (MuJoCo-XML) generators that serve as input to an environment.
+* MJCFMorphology defines the robot morphology.
+    * MJCFMorphologies are parameterized using
+      the [Framework for Parameterized Robot Specifications (FPRS)](https://github.com/Co-Evolve/fprs).
+    * MJCFMorphologies follow a modular design, dividing the robot into distinct parts.
+* MJCFArena defines the arena in which the robot is places (i.e. all non-morphological structures).
+    * MJCFArena are reconfigurable via a `ArenaConfig[requirements.txt](requirements.txt)uration`
+        * reconfigurable via a configuration
+          [requirements.txt](requirements.txt)
+
+## Unified MJC and MJX environment in[README.md](README.md)terface
+
+* Reconfigurable through an environment configuration
+* Functional programming
+    * MJX requires the functional programming paradigm. To unify MJC and MJX, we thus apply this stronger coding
+      constraint to the MJC side as well.
+    * Simply said: functions are pure, and should not have side effects.
+    * Environments expect states and return states.
+* Gymnasium-like interface
+    * Environments provide an observation and action space (automatically)
+    * Outside code interacts with the environment using the typical `step`, `reset`, `render` and `close` functions.
+    * Main difference with the original gymnasium interface: here the environment returns and expects states, which
+      encapsulates the original observations, rewards, info, etc. in a datastructure, together with the underlying
+      physics state.
+* Differences between MJCEnv (i.e. a native MuJoCo environment) and MJXEnv (i.e. an MJX environment):
+    * development: MJXEnv's should be implemented in JAX, MJCEnv's do not necessarily require JAX.
+    * usage: MJXEnvState contains JAX arrays (and the additional mjx.Model and mjx.Data structures), the MJCEnvState
+      uses numpy arrays.
+* Observations are implemented using Observables; these define retriever functions that extract the observation based on
+  the state datastructure and provide an easy way to implement observations.
+* DualMuJocoEnvironment provides the unification of MJC and MJX, and allows conditional environment creation based on
+  a backend string.
+* Both MJC and MJX support human-mode and rgb_array rendering modes.
+    * Note: MJX rendering is slow due to the offloading of datastructures of the GPU
+
+## Examples
+
+For practical applications and demonstrations of **moojoco-env**, please refer to
+the [Bio-inspired Robotics Benchmark](https://github.com/Co-Evolve/brb),
+which employs this framework extensively.
+
+## Installation
+
+``pip install moojoco-env``