Initial Release

.gitattributes

@@ -0,0 +1,2 @@
+# SCM syntax highlighting & preventing 3-way merges
+pixi.lock merge=binary linguist-language=YAML linguist-generated=true

.github/CODEOWNERS

@@ -1,2 +1,2 @@
 # Core maintainers
-* @slecleach @pculbertson-bdai
+* @slecleach @pculbertson @pculbertson-bdai @alberthli

.github/workflows/dependabot.yml

@@ -0,0 +1,10 @@
+version: 2
+updates:
+  - package-ecosystem: github-actions
+    directory: "/" # Location of package manifests
+    schedule:
+      interval: "weekly"
+    groups:
+      dependencies:
+        patterns:
+          - "*"

.github/workflows/docs.yml

@@ -11,28 +11,31 @@ permissions:
 
 jobs:
   docs:
-    runs-on: ubuntu-22.04
+    runs-on: ubuntu-24.04
     steps:
-      # Check out source
       - uses: actions/checkout@v4
 
-      # Set up Python
-      - name: "Set up Python 3.10"
+      - uses: prefix-dev/setup-pixi@v0.8.8
+        with:
+          pixi-version: v0.47.0
+          cache: true
+
+      - name: "Set up Python 3.13"
         uses: actions/setup-python@v5
         with:
-          python-version: "3.10"
+          python-version: "3.13"
 
-      # Build documentation
       - name: Building documentation
         run: |
           pip install uv
           uv pip install --system -e ".[dev]"
           uv pip install --system -r docs/requirements.txt
           sphinx-build docs/source docs/build -b dirhtml
 
-      # Deploy
       - name: Deploy to GitHub Pages
+        if: github.event_name == 'push' && github.ref == 'refs/heads/main'
         uses: peaceiris/actions-gh-pages@v4
         with:
           github_token: ${{ secrets.GITHUB_TOKEN }}
           publish_dir: ./docs/build
+          force_orphan: true

.github/workflows/precommit.yml

@@ -1,38 +1,50 @@
-name: Pre-commit Checks
+name: Precommit
 
 on:
   push:
-    branches: [ main ]
+    branches: [main]
   pull_request:
-  workflow_dispatch:
+    branches: [main]
 
+permissions:
+  contents: read
 
 jobs:
-  precommit:
-    runs-on: ubuntu-22.04
-
+  build:
+    runs-on: ${{ matrix.os }}
     strategy:
-      fail-fast: false
       matrix:
-        python-version: ['3.10']
-        os: [ubuntu-22.04]
-
+        os: [ubuntu-22.04, ubuntu-24.04]
+        python-version: ['3.10', '3.11', '3.12', '3.13']
     steps:
-    - name: Checkout code
-      uses: actions/checkout@v4
+      - uses: actions/checkout@v4
+
+      - uses: prefix-dev/setup-pixi@v0.8.8
+        with:
+          pixi-version: v0.47.0
+          cache: true
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Restore typings cache
+        uses: actions/cache@v4
+        id: typings-cache
+        with:
+          path: typings
+          key: typings-${{ matrix.os }}-${{ matrix.python-version }}-${{ hashFiles('pyproject.toml') }}
 
-    - name: Set up Python ${{ matrix.python-version }}
-      uses: actions/setup-python@v4
-      with:
-        python-version: ${{ matrix.python-version }}
+      - name: Generate stubs if cache miss
+        if: steps.typings-cache.outputs.cache-hit != 'true'
+        run: pixi run -e dev pybind11-stubgen mujoco -o typings/
 
-    - name: Install dependencies
-      run: |
-        python -m pip install --upgrade pip
-        pip install pre-commit
+      - name: Run Ruff Linter
+        run: pixi run -e dev ruff check judo/ tests/ --output-format=github
 
-    - name: Install pre-commit hooks
-      run: pre-commit install
+      - name: Run Ruff Formatter
+        run: pixi run -e dev ruff format judo/ tests/ --diff
 
-    - name: Run pre-commit hooks
-      run: pre-commit run --all-files
+      - name: Run Pyright
+        run: pixi run -e dev pyright

.github/workflows/test.yml

@@ -0,0 +1,33 @@
+name: Test
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [ubuntu-22.04, ubuntu-24.04]
+        python-version: ['3.10', '3.11', '3.12', '3.13']
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: prefix-dev/setup-pixi@v0.8.8
+        with:
+          pixi-version: v0.47.0
+          cache: true
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+
+      - name: Test with pytest
+        run: pixi run -e dev pytest -rsx

.gitignore

@@ -1,8 +1,4 @@
-# model weights
-**/*.pt
-
 # Byte-compiled / optimized / DLL files
-**/__pycache__
 __pycache__/
 *.py[cod]
 *$py.class
@@ -29,7 +25,6 @@ share/python-wheels/
 .installed.cfg
 *.egg
 MANIFEST
-bin
 
 # PyInstaller
 #  Usually these files are written by a python script from a template
@@ -99,6 +94,12 @@ ipython_config.py
 #   install all needed dependencies.
 #Pipfile.lock
 
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#uv.lock
+
 # poetry
 #   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
 #   This is especially recommended for binary packages to ensure reproducibility, and is more
@@ -111,8 +112,10 @@ ipython_config.py
 #pdm.lock
 #   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
 #   in version control.
-#   https://pdm.fming.dev/#use-with-ide
+#   https://pdm.fming.dev/latest/usage/project/#working-with-version-control
 .pdm.toml
+.pdm-python
+.pdm-build/
 
 # PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
 __pypackages__/
@@ -126,7 +129,6 @@ celerybeat.pid
 
 # Environments
 .env
-.docs_venv
 .venv
 env/
 venv/
@@ -165,8 +167,26 @@ cython_debug/
 #  option (not recommended) you can uncomment the following to ignore the entire idea folder.
 #.idea/
 
-# Ruff
+# Ruff stuff:
 .ruff_cache/
 
-# VSCode
-.vscode/
+# PyPI configuration file
+.pypirc
+
+# typings
+# see: https://github.com/google-deepmind/mujoco/issues/1292
+typings/
+
+# dora
+out/
+outputs/
+
+# pixi environments
+.pixi
+
+# mujoco
+MUJOCO_LOG.TXT
+
+# assets
+*.obj
+*.stl

.hooks/python_headers.py

@@ -0,0 +1,72 @@
+# Copyright (c) 2025 Robotics and AI Institute LLC. All rights reserved.
+
+import re
+import sys
+from datetime import datetime
+from pathlib import Path
+
+HEADER_TEMPLATE = "# Copyright (c) {year} Robotics and AI Institute LLC. All rights reserved."
+HEADER_REGEX = r"^# Copyright \(c\) (\d{4}) Robotics and AI Institute LLC\. All rights reserved\."
+
+
+def get_header_year(lines: list[str]) -> int | None:
+    """Return the year from header if found in first 5 lines, else None."""
+    for line in lines[:5]:
+        m = re.match(HEADER_REGEX, line)
+        if m:
+            return int(m.group(1))
+    return None
+
+
+def add_header_to_file(file_path: str) -> int:
+    """Add or update header in the Python file."""
+    path = Path(file_path)
+    if path.suffix != ".py":
+        return 0
+
+    content = path.read_text(encoding="utf-8").splitlines(keepends=True)
+    current_year = datetime.now().year
+    header_line_new = HEADER_TEMPLATE.format(year=current_year) + "\n"
+
+    modified = False
+
+    # respect existing shebang line
+    insert_at = 1 if content and content[0].startswith("#!") else 0
+
+    existing_year = get_header_year(content)
+    if existing_year is not None:
+        # header exists, check if year is wrong
+        if existing_year != current_year:
+            # find the exact header line index and replace it
+            for idx, line in enumerate(content[:5]):
+                if re.match(HEADER_REGEX, line):
+                    content[idx] = header_line_new
+                    modified = True
+                    break
+        # else: year is up to date, no change needed
+    else:
+        # no header found, insert new header
+        new_header = [header_line_new, "\n"]
+        content = content[:insert_at] + new_header + content[insert_at:]
+        modified = True
+
+    if modified:
+        path.write_text("".join(content), encoding="utf-8")
+        return 1
+    return 0
+
+
+def main() -> int:
+    """Main function to process files passed as arguments."""
+    modified = 0
+    for file_path in sys.argv[1:]:
+        try:
+            modified += add_header_to_file(file_path)
+        except Exception as e:
+            print(f"Error processing {file_path}: {e}", file=sys.stderr)
+            return 1
+    return 0
+
+
+if __name__ == "__main__":
+    sys.exit(main())