SimToolReal RL-Games SAPG Runtime

This repository packages the native RL-Games runtime used by UniLab's optional SimToolReal SAPG training entrypoint.

It preserves 72 Python files selected from the SimToolReal RL-Games fork. Nine reviewed compatibility patches adapt the native runner to the Gymnasium, NumPy, and the Torch 2.7+ AMP APIs used by UniLab. PATCHES.md documents every patch and source_manifest.json records the upstream provenance and hashes.

The vendor intentionally does not include the 122 YAML files in the selected Source parent tree, Source examples, notebooks, or the Source top-level rl_games/tests/ test suite. The runtime selection does retain test-named Python modules inside rl_games/rl_games, including common/test_utils.py, envs/test/**, and envs/test_network.py; these are part of the 72 selected runtime identities.

Installation

uv sync --extra mujoco --extra rlgames-sapg

UniLab pins the package to an immutable Git commit. Do not format files below rl_games/; the selected Source files are intentionally kept byte-stable.