artificialbrains-sdk 0.1.3__py3-none-any.whl → 0.1.4__py3-none-any.whl

ab_sdk/run_session.py

@@ -20,7 +20,7 @@ appropriate synchronization in your handlers.
 """
 
 from __future__ import annotations
-
+import struct
 import logging
 import threading
 import time
@@ -198,6 +198,64 @@ class RunSession:
         }
         logger.debug("Sending input chunk: %s", {k: payload[k] for k in payload if k != "data"})
         self.socket.emit("io:chunk", payload, namespace=self.namespace)
+    
+    def send_proprioception_ticks(
+        self,
+        input_id: str,
+        raw_tick: float,
+        prev_raw_tick: Optional[float] = None,
+        vel_tick_s: Optional[float] = None,
+        *,
+        cycle: Optional[int] = None,
+        seq: Optional[int] = None,
+        t: Optional[float] = None,
+        lo: Optional[float] = None,
+        hi: Optional[float] = None,
+        meta: Optional[Dict[str, Any]] = None,
+    ) -> None:
+        """Send a per-joint proprioception sample as RAW ticks (+ optional velocity).
+
+        Payload format:
+          fmt="rawtick_f32x3"
+          data=3x float32 little-endian: [raw_tick, prev_raw_tick, vel_tick_s]
+
+        Notes:
+          - We include cycle in meta for debugging/traceability.
+          - For non-Feedback chunks, the server uses its own brainCycle; the cycle
+            value is still useful for logs and alignment.
+        """
+        if prev_raw_tick is None:
+            prev_raw_tick = float(raw_tick)
+        if vel_tick_s is None:
+            vel_tick_s = 0.0
+
+        payload = struct.pack("<fff", float(raw_tick), float(prev_raw_tick), float(vel_tick_s))
+
+        m = dict(meta or {})
+        if cycle is not None:
+            m.setdefault("cycle", int(cycle))
+        if lo is not None:
+            m.setdefault("lo", float(lo))
+        if hi is not None:
+            m.setdefault("hi", float(hi))
+        m.setdefault("rawTick", float(raw_tick))
+        m.setdefault("prevRawTick", float(prev_raw_tick))
+        m.setdefault("velTickPerS", float(vel_tick_s))
+
+        if seq is None:
+            seq = int(cycle) if cycle is not None else 0
+        if t is None:
+            t = time.time()
+
+        self.send_input_chunk(
+            input_id=str(input_id),
+            kind="Proprioception",
+            seq=int(seq),
+            t=float(t),
+            fmt="rawtick_f32x3",
+            meta=m,
+            data=payload,
+        )
 
     def send_feedback_raster(self, input_id: str, raster: Iterable[float],
                              cycle: int) -> None:
@@ -228,6 +286,7 @@ class RunSession:
                               t=time.time(), fmt="raster_f32",
                               meta=meta, data=data_bytes)
 
+
     def send_reward(self, global_reward: float, by_layer: Dict[str, float],
                     cycle: int) -> None:
         """Send reward information to the server.

{artificialbrains_sdk-0.1.3.dist-info → artificialbrains_sdk-0.1.4.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: artificialbrains_sdk
-Version: 0.1.3
+Version: 0.1.4
 Summary: ArtificialBrains Python SDK
 Classifier: Programming Language :: Python :: 3
 Classifier: License :: Other/Proprietary License

{artificialbrains_sdk-0.1.3.dist-info → artificialbrains_sdk-0.1.4.dist-info}/RECORD

@@ -4,12 +4,12 @@ ab_sdk/contract_scaffold.py,sha256=4zcsWhd9axxMu--FZ7U8B8u4QLUwluifyvqac2apDno,8
 ab_sdk/endpoints.py,sha256=yc4h_E8vQA9TmWF0sW2GprgE0QnS3eBetH13ogeuw4E,2102
 ab_sdk/input_streamer.py,sha256=fRPlBimaTDBsm1gz9cdoYanVbmwYTBXSyI9IrXslXiM,6847
 ab_sdk/robot_loop.py,sha256=x5QCmJ28ET2iQf2q6AcreN0fy0WfPVUA4g-8b4TDjXo,7567
-ab_sdk/run_session.py,sha256=AQ_Xxn41s52MaCfi94liX3hkJxT3VT1INlf1u9NcXa0,12733
+ab_sdk/run_session.py,sha256=nwUSsOMSk5AupXQSyvArh--pe12Y3QyHDDjhjmTfHdU,14661
 ab_sdk/plugins/__init__.py,sha256=veHfKqvymY8YPN9HF4E1S4pwRUcVVJHDAyBZptbLNlA,1870
 ab_sdk/plugins/decoder.py,sha256=vHAubiAPOaOg3J006TLjn4qAoLIu2Lz2D2kjz421odc,10148
 ab_sdk/plugins/deviation.py,sha256=QLKOqOSa9HIj3Z3bO6oR79wY1Lni_P-j3GAGM7UYKVs,2019
 ab_sdk/plugins/reward.py,sha256=E5IsV29N6juyfIQ7ZksDa8JSxAAbVflaJOtLplilAD4,1796
-artificialbrains_sdk-0.1.3.dist-info/METADATA,sha256=_YNYqtSlvLxl7u9c7mX4LVls1n2XkuxIS0iQy354TD0,12177
-artificialbrains_sdk-0.1.3.dist-info/WHEEL,sha256=qELbo2s1Yzl39ZmrAibXA2jjPLUYfnVhUNTlyF1rq0Y,92
-artificialbrains_sdk-0.1.3.dist-info/top_level.txt,sha256=Ttsz2oF0qRh68OI9w3mu_LKkv2I_YvOWr3kudSpckpM,7
-artificialbrains_sdk-0.1.3.dist-info/RECORD,,
+artificialbrains_sdk-0.1.4.dist-info/METADATA,sha256=m7pUtsi0xBlVHDzB2qEHkzxuHKTxm--2g0-9tLwIGFM,12177
+artificialbrains_sdk-0.1.4.dist-info/WHEEL,sha256=wUyA8OaulRlbfwMtmQsvNngGrxQHAvkKcvRmdizlJi0,92
+artificialbrains_sdk-0.1.4.dist-info/top_level.txt,sha256=Ttsz2oF0qRh68OI9w3mu_LKkv2I_YvOWr3kudSpckpM,7
+artificialbrains_sdk-0.1.4.dist-info/RECORD,,

{artificialbrains_sdk-0.1.3.dist-info → artificialbrains_sdk-0.1.4.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.10.1)
+Generator: setuptools (80.10.2)
 Root-Is-Purelib: true
 Tag: py3-none-any