luckyrobots 0.1.66__py3-none-any.whl → 0.1.72__py3-none-any.whl

luckyrobots/client.py

@@ -0,0 +1,997 @@
+"""
+LuckyEngine gRPC client.
+
+Uses checked-in Python stubs generated from the `.proto` files under
+`src/luckyrobots/grpc/proto/`.
+"""
+
+from __future__ import annotations
+
+import logging
+import time
+import statistics
+from dataclasses import dataclass
+from types import SimpleNamespace
+from typing import Any, Optional
+
+logger = logging.getLogger("luckyrobots.client")
+
+try:
+    from .grpc.generated import agent_pb2  # type: ignore
+    from .grpc.generated import agent_pb2_grpc  # type: ignore
+    from .grpc.generated import camera_pb2  # type: ignore
+    from .grpc.generated import camera_pb2_grpc  # type: ignore
+    from .grpc.generated import common_pb2  # type: ignore
+    from .grpc.generated import media_pb2  # type: ignore
+    from .grpc.generated import mujoco_pb2  # type: ignore
+    from .grpc.generated import mujoco_pb2_grpc  # type: ignore
+    from .grpc.generated import scene_pb2  # type: ignore
+    from .grpc.generated import scene_pb2_grpc  # type: ignore
+    from .grpc.generated import telemetry_pb2  # type: ignore
+    from .grpc.generated import telemetry_pb2_grpc  # type: ignore
+    from .grpc.generated import viewport_pb2  # type: ignore
+    from .grpc.generated import viewport_pb2_grpc  # type: ignore
+except Exception as e:  # pragma: no cover
+    raise ImportError(
+        "Missing generated gRPC stubs. Regenerate them from the protos in "
+        "src/luckyrobots/grpc/proto into src/luckyrobots/grpc/generated."
+    ) from e
+
+# Import Pydantic models for type-checked responses
+from .models import ObservationResponse, StateSnapshot, DomainRandomizationConfig
+
+
+class GrpcConnectionError(Exception):
+    """Raised when gRPC connection fails."""
+
+    def __init__(self, message: str):
+        super().__init__(message)
+        logger.warning("gRPC connection error: %s", message)
+
+
+class LuckyEngineClient:
+    """
+    Client for connecting to the LuckyEngine gRPC server.
+
+    Provides access to all gRPC services defined by the protos under
+    `src/luckyrobots/rpc/proto`:
+    - SceneService
+    - MujocoService
+    - TelemetryService
+    - AgentService
+    - ViewportService
+    - CameraService
+
+    Usage:
+        client = LuckyEngineClient(host="127.0.0.1", port=50051)
+        client.connect()
+
+        # Access services
+        scene_info = client.scene.GetSceneInfo(client.pb.scene.GetSceneInfoRequest())
+        joint_state = client.mujoco.GetJointState(
+            client.pb.mujoco.GetJointStateRequest()
+        )
+
+        client.close()
+    """
+
+    def __init__(
+        self,
+        host: str = "127.0.0.1",
+        port: int = 50051,
+        timeout: float = 5.0,
+        *,
+        robot_name: Optional[str] = None,
+    ) -> None:
+        """
+        Initialize the LuckyEngine gRPC client.
+
+        Args:
+            host: gRPC server host address.
+            port: gRPC server port.
+            timeout: Default timeout for RPC calls in seconds.
+            robot_name: Default robot name for calls that require it.
+        """
+        self.host = host
+        self.port = port
+        self.timeout = timeout
+        self._robot_name = robot_name
+
+        self._channel = None
+
+        # Service stubs (populated after connect)
+        self._scene = None
+        self._mujoco = None
+        self._telemetry = None
+        self._agent = None
+        self._viewport = None
+        self._camera = None
+
+        # Cached agent schemas: agent_name -> (observation_names, action_names)
+        # Populated lazily by get_agent_schema() or fetch_schema()
+        self._schema_cache: dict[str, tuple[list[str], list[str]]] = {}
+
+        # Protobuf modules (for discoverability + explicit imports).
+        self._pb = SimpleNamespace(
+            common=common_pb2,
+            media=media_pb2,
+            scene=scene_pb2,
+            mujoco=mujoco_pb2,
+            telemetry=telemetry_pb2,
+            agent=agent_pb2,
+            viewport=viewport_pb2,
+            camera=camera_pb2,
+        )
+
+    def connect(self) -> None:
+        """
+        Connect to the LuckyEngine gRPC server.
+
+        Raises:
+            GrpcConnectionError: If connection fails.
+        """
+        try:
+            import grpc  # type: ignore
+        except ImportError as e:
+            raise RuntimeError(
+                "Missing grpcio. Install with: pip install grpcio protobuf"
+            ) from e
+
+        target = f"{self.host}:{self.port}"
+        logger.info(f"Connecting to LuckyEngine gRPC server at {target}")
+
+        self._channel = grpc.insecure_channel(target)
+
+        # Create service stubs
+        self._scene = scene_pb2_grpc.SceneServiceStub(self._channel)
+        self._mujoco = mujoco_pb2_grpc.MujocoServiceStub(self._channel)
+        self._telemetry = telemetry_pb2_grpc.TelemetryServiceStub(self._channel)
+        self._agent = agent_pb2_grpc.AgentServiceStub(self._channel)
+        self._viewport = viewport_pb2_grpc.ViewportServiceStub(self._channel)
+        self._camera = camera_pb2_grpc.CameraServiceStub(self._channel)
+
+        logger.info(f"Channel opened to {target} (server not verified yet)")
+
+    def close(self) -> None:
+        """Close the gRPC channel."""
+        if self._channel is not None:
+            try:
+                self._channel.close()
+            except Exception as e:
+                logger.debug(f"Error closing gRPC channel: {e}")
+            self._channel = None
+            self._scene = None
+            self._mujoco = None
+            self._telemetry = None
+            self._agent = None
+            self._viewport = None
+            self._camera = None
+            logger.info("gRPC channel closed")
+
+    def is_connected(self) -> bool:
+        """Check if the client is connected."""
+        return self._channel is not None
+
+    def health_check(self, timeout: Optional[float] = None) -> bool:
+        """
+        Perform a health check by calling GetMujocoInfo.
+
+        Args:
+            timeout: Timeout in seconds (uses default if None).
+
+        Returns:
+            True if server responds, False otherwise.
+        """
+        if not self.is_connected():
+            return False
+
+        timeout = timeout or self.timeout
+        try:
+            self._mujoco.GetMujocoInfo(
+                self.pb.mujoco.GetMujocoInfoRequest(robot_name=self._robot_name or ""),
+                timeout=timeout,
+            )
+            return True
+        except Exception as e:
+            logger.debug(f"Health check failed: {e}")
+            return False
+
+    def wait_for_server(
+        self, timeout: float = 30.0, poll_interval: float = 0.5
+    ) -> bool:
+        """
+        Wait for the gRPC server to become available.
+
+        Args:
+            timeout: Maximum time to wait in seconds.
+            poll_interval: Time between connection attempts.
+
+        Returns:
+            True if server became available, False if timeout.
+        """
+        import time
+
+        start = time.perf_counter()
+
+        while time.perf_counter() - start < timeout:
+            if not self.is_connected():
+                try:
+                    self.connect()
+                except Exception:
+                    pass
+
+            if self.health_check(timeout=10.0):
+                logger.info(f"Connected to LuckyEngine gRPC server at {self.host}:{self.port}")
+                return True
+
+            time.sleep(poll_interval)
+
+        return False
+
+    # --- Protobuf modules (discoverable + explicit) ---
+
+    @property
+    def pb(self) -> Any:
+        """Access protobuf modules grouped by domain (e.g., `client.pb.scene`)."""
+        return self._pb
+
+    @property
+    def robot_name(self) -> Optional[str]:
+        """Default robot name used by calls that accept an optional robot_name."""
+        return self._robot_name
+
+    def set_robot_name(self, robot_name: str) -> None:
+        """Set the default robot name used by calls that accept an optional robot_name."""
+        self._robot_name = robot_name
+
+    # --- Service stubs ---
+    #
+    # Confirmed working:
+    #   - mujoco: GetMujocoInfo, GetJointState, SendControl
+    #   - agent: GetObservation, ResetAgent, GetAgentSchema, StreamAgent
+    #
+    # Placeholders (not yet confirmed working - use at your own risk):
+    #   - scene: GetSceneInfo
+    #   - telemetry: StreamTelemetry
+    #   - viewport: (no methods implemented)
+    #   - camera: ListCameras, StreamCamera
+
+    @property
+    def scene(self) -> Any:
+        """SceneService stub. [PLACEHOLDER - not confirmed working]"""
+        if self._scene is None:
+            raise GrpcConnectionError("Not connected. Call connect() first.")
+        return self._scene
+
+    @property
+    def mujoco(self) -> Any:
+        """MujocoService stub."""
+        if self._mujoco is None:
+            raise GrpcConnectionError("Not connected. Call connect() first.")
+        return self._mujoco
+
+    @property
+    def telemetry(self) -> Any:
+        """TelemetryService stub. [PLACEHOLDER - not confirmed working]"""
+        if self._telemetry is None:
+            raise GrpcConnectionError("Not connected. Call connect() first.")
+        return self._telemetry
+
+    @property
+    def agent(self) -> Any:
+        """AgentService stub."""
+        if self._agent is None:
+            raise GrpcConnectionError("Not connected. Call connect() first.")
+        return self._agent
+
+    @property
+    def viewport(self) -> Any:
+        """ViewportService stub. [PLACEHOLDER - not confirmed working]"""
+        if self._viewport is None:
+            raise GrpcConnectionError("Not connected. Call connect() first.")
+        return self._viewport
+
+    @property
+    def camera(self) -> Any:
+        """CameraService stub. [PLACEHOLDER - not confirmed working]"""
+        if self._camera is None:
+            raise GrpcConnectionError("Not connected. Call connect() first.")
+        return self._camera
+
+    # --- Convenience methods ---
+
+    def get_scene_info(self, timeout: Optional[float] = None):
+        """Get scene information. [PLACEHOLDER - not confirmed working]"""
+        raise NotImplementedError(
+            "get_scene_info() is not yet confirmed working. "
+            "Remove this check if you want to test it."
+        )
+        timeout = timeout or self.timeout
+        return self.scene.GetSceneInfo(
+            self.pb.scene.GetSceneInfoRequest(),
+            timeout=timeout,
+        )
+
+    def get_mujoco_info(self, robot_name: str = "", timeout: Optional[float] = None):
+        """Get MuJoCo model information."""
+        timeout = timeout or self.timeout
+        robot_name = robot_name or self._robot_name
+        if not robot_name:
+            raise ValueError(
+                "robot_name is required (pass `robot_name=` or set it once via "
+                "LuckyEngineClient(robot_name=...) / client.set_robot_name(...))."
+            )
+        return self.mujoco.GetMujocoInfo(
+            self.pb.mujoco.GetMujocoInfoRequest(robot_name=robot_name),
+            timeout=timeout,
+        )
+
+    def get_joint_state(self, robot_name: str = "", timeout: Optional[float] = None):
+        """Get current joint state."""
+        timeout = timeout or self.timeout
+        robot_name = robot_name or self._robot_name
+        if not robot_name:
+            raise ValueError(
+                "robot_name is required (pass `robot_name=` or set it once via "
+                "LuckyEngineClient(robot_name=...) / client.set_robot_name(...))."
+            )
+        return self.mujoco.GetJointState(
+            self.pb.mujoco.GetJointStateRequest(robot_name=robot_name),
+            timeout=timeout,
+        )
+
+    def send_control(
+        self,
+        controls: list[float],
+        robot_name: str = "",
+        timeout: Optional[float] = None,
+    ):
+        """Send control commands to the robot."""
+        timeout = timeout or self.timeout
+        robot_name = robot_name or self._robot_name
+        if not robot_name:
+            raise ValueError(
+                "robot_name is required (pass `robot_name=` or set it once via "
+                "LuckyEngineClient(robot_name=...) / client.set_robot_name(...))."
+            )
+        return self.mujoco.SendControl(
+            self.pb.mujoco.SendControlRequest(robot_name=robot_name, controls=controls),
+            timeout=timeout,
+        )
+
+    def get_agent_schema(self, agent_name: str = "", timeout: Optional[float] = None):
+        """Get agent schema (observation/action sizes and names).
+
+        The schema is cached for subsequent get_observation() calls to enable
+        named access to observation values.
+
+        Args:
+            agent_name: Agent name (empty = default agent).
+            timeout: RPC timeout.
+
+        Returns:
+            GetAgentSchemaResponse with schema containing observation_names,
+            action_names, observation_size, and action_size.
+        """
+        timeout = timeout or self.timeout
+        resp = self.agent.GetAgentSchema(
+            self.pb.agent.GetAgentSchemaRequest(agent_name=agent_name),
+            timeout=timeout,
+        )
+
+        # Cache the schema for named observation access
+        schema = getattr(resp, "schema", None)
+        if schema is not None:
+            cache_key = agent_name or "agent_0"
+            obs_names = list(schema.observation_names) if schema.observation_names else []
+            action_names = list(schema.action_names) if schema.action_names else []
+            self._schema_cache[cache_key] = (obs_names, action_names)
+            logger.debug(
+                "Cached schema for %s: %d obs names, %d action names",
+                cache_key,
+                len(obs_names),
+                len(action_names),
+            )
+
+        return resp
+
+    def fetch_schema(self, agent_name: str = "", timeout: Optional[float] = None) -> None:
+        """Fetch and cache agent schema for named observation access.
+
+        Call this once before get_observation() to enable accessing observations
+        by name (e.g., obs["proj_grav_x"]).
+
+        Args:
+            agent_name: Agent name (empty = default agent).
+            timeout: RPC timeout.
+        """
+        self.get_agent_schema(agent_name=agent_name, timeout=timeout)
+
+    def get_observation(
+        self,
+        agent_name: str = "",
+        timeout: Optional[float] = None,
+    ) -> ObservationResponse:
+        """
+        Get the RL observation vector for an agent.
+
+        This returns only the flat observation vector defined by the agent's
+        observation spec in LuckyEngine. For sensor data (joints, telemetry,
+        cameras), use the dedicated methods.
+
+        Args:
+            agent_name: Agent name (empty = default agent).
+            timeout: RPC timeout.
+
+        Returns:
+            ObservationResponse with observation vector, actions, timestamp.
+        """
+        timeout = timeout or self.timeout
+
+        resolved_robot_name = self._robot_name
+        if not resolved_robot_name:
+            raise ValueError(
+                "robot_name is required (set it once via "
+                "LuckyEngineClient(robot_name=...) / client.set_robot_name(...))."
+            )
+
+        # Request only the agent's RL observation (agent_frame in gRPC terms).
+        # Joint state and telemetry have their own dedicated methods.
+        resp = self.agent.GetObservation(
+            self.pb.agent.GetObservationRequest(
+                robot_name=resolved_robot_name,
+                agent_name=agent_name,
+                include_joint_state=False,
+                include_agent_frame=True,  # The RL observation vector
+                include_telemetry=False,
+            ),
+            timeout=timeout,
+        )
+
+        # Extract observation from agent_frame.
+        #
+        # In gRPC, the "agent_frame" is the message containing the RL observation
+        # data from LuckyEngine's agent system. It includes:
+        #   - observations: flat float vector matching the agent's observation spec
+        #   - actions: the last action vector sent to the agent (echoed back)
+        #   - timestamp_ms: wall-clock time when the observation was captured
+        #   - frame_number: monotonic counter for ordering observations
+        #
+        # This is distinct from joint_state (raw MuJoCo qpos/qvel) and telemetry
+        # (debugging data like contact forces, energy, etc).
+        agent_frame = getattr(resp, "agent_frame", None)
+        observations = []
+        actions = []
+        timestamp_ms = getattr(resp, "timestamp_ms", 0)
+        frame_number = getattr(resp, "frame_number", 0)
+
+        if agent_frame is not None:
+            observations = list(agent_frame.observations) if agent_frame.observations else []
+            actions = list(agent_frame.actions) if agent_frame.actions else []
+            timestamp_ms = getattr(agent_frame, "timestamp_ms", timestamp_ms)
+            frame_number = getattr(agent_frame, "frame_number", frame_number)
+
+        # Look up cached schema for named access
+        cache_key = agent_name or "agent_0"
+        obs_names, action_names = self._schema_cache.get(cache_key, (None, None))
+
+        return ObservationResponse(
+            observation=observations,
+            actions=actions,
+            timestamp_ms=timestamp_ms,
+            frame_number=frame_number,
+            agent_name=cache_key,
+            observation_names=obs_names,
+            action_names=action_names,
+        )
+
+    def get_state(
+        self,
+        agent_name: str = "",
+        include_observation: bool = True,
+        include_joint_state: bool = True,
+        camera_names: Optional[list[str]] = None,
+        width: int = 0,
+        height: int = 0,
+        format: str = "raw",
+        timeout: Optional[float] = None,
+    ) -> StateSnapshot:
+        """
+        Get a bundled snapshot of multiple data sources.
+
+        Use this for efficiency when you need multiple data types in one call.
+        For single data types, prefer the dedicated methods:
+        - get_observation() for RL observation vector
+        - get_joint_state() for joint positions/velocities
+        - stream_telemetry() for telemetry (streaming only)
+        - stream_camera() for camera frames (streaming)
+
+        Args:
+            agent_name: Agent name (empty = default agent).
+            include_observation: Include RL observation vector.
+            include_joint_state: Include joint positions/velocities.
+            camera_names: List of camera names to include frames from.
+            width: Desired width for camera frames (0 = native).
+            height: Desired height for camera frames (0 = native).
+            format: Image format ("raw" or "jpeg").
+            timeout: RPC timeout.
+
+        Returns:
+            StateSnapshot with requested data.
+        """
+        timeout = timeout or self.timeout
+
+        resolved_robot_name = self._robot_name
+        if not resolved_robot_name:
+            raise ValueError(
+                "robot_name is required (set it once via "
+                "LuckyEngineClient(robot_name=...) / client.set_robot_name(...))."
+            )
+
+        cameras = []
+        if camera_names:
+            for name in camera_names:
+                cameras.append(
+                    self.pb.agent.GetCameraFrameRequest(
+                        name=name,
+                        width=width,
+                        height=height,
+                        format=format,
+                    )
+                )
+
+        resp = self.agent.GetObservation(
+            self.pb.agent.GetObservationRequest(
+                robot_name=resolved_robot_name,
+                agent_name=agent_name,
+                include_joint_state=include_joint_state,
+                include_agent_frame=include_observation,
+                include_telemetry=False,  # Telemetry is streaming-only
+                cameras=cameras,
+            ),
+            timeout=timeout,
+        )
+
+        # Build ObservationResponse if requested
+        obs_response = None
+        if include_observation:
+            agent_frame = getattr(resp, "agent_frame", None)
+            observations = []
+            actions = []
+            if agent_frame is not None:
+                observations = list(agent_frame.observations) if agent_frame.observations else []
+                actions = list(agent_frame.actions) if agent_frame.actions else []
+
+            # Look up cached schema for named access
+            cache_key = agent_name or "agent_0"
+            obs_names, action_names = self._schema_cache.get(cache_key, (None, None))
+
+            obs_response = ObservationResponse(
+                observation=observations,
+                actions=actions,
+                timestamp_ms=getattr(resp, "timestamp_ms", 0),
+                frame_number=getattr(resp, "frame_number", 0),
+                agent_name=cache_key,
+                observation_names=obs_names,
+                action_names=action_names,
+            )
+
+        return StateSnapshot(
+            observation=obs_response,
+            joint_state=getattr(resp, "joint_state", None) if include_joint_state else None,
+            camera_frames=list(getattr(resp, "camera_frames", [])) if camera_names else None,
+            timestamp_ms=getattr(resp, "timestamp_ms", 0),
+            frame_number=getattr(resp, "frame_number", 0),
+        )
+
+    def stream_agent(self, agent_name: str = "", target_fps: int = 30):
+        """
+        Start streaming agent observations.
+
+        Returns an iterator of AgentFrame messages.
+        """
+        return self.agent.StreamAgent(
+            self.pb.agent.StreamAgentRequest(
+                agent_name=agent_name, target_fps=target_fps
+            ),
+        )
+
+    def reset_agent(
+        self,
+        agent_name: str = "",
+        randomization_cfg: Optional[Any] = None,
+        timeout: Optional[float] = None,
+    ):
+        """
+        Reset a specific agent (full reset: clear buffers, reset state, resample commands, apply MuJoCo state).
+
+        Useful for multi-env RL where individual agents need to be reset without resetting the entire scene.
+
+        Args:
+            agent_name: Agent logical name. Convention is `agent_0`, `agent_1`, ...
+                Empty string means "default agent" (agent_0).
+            randomization_cfg: Optional domain randomization config for this reset.
+            timeout: Timeout in seconds (uses default if None).
+
+        Returns:
+            ResetAgentResponse with success and message fields.
+        """
+        timeout = timeout or self.timeout
+
+        # Build request with optional randomization config
+        request_kwargs = {"agent_name": agent_name}
+
+        if randomization_cfg is not None:
+            randomization_proto = self._randomization_to_proto(randomization_cfg)
+            request_kwargs["dr_config"] = randomization_proto
+
+        return self.agent.ResetAgent(
+            self.pb.agent.ResetAgentRequest(**request_kwargs),
+            timeout=timeout,
+        )
+
+    def step(
+        self,
+        actions: list[float],
+        agent_name: str = "",
+        timeout_ms: int = 0,
+        timeout: Optional[float] = None,
+    ) -> ObservationResponse:
+        """
+        Synchronous RL step: apply action, wait for physics, return observation.
+
+        This is the recommended interface for RL training as it eliminates
+        one network round-trip compared to separate SendControl + GetObservation.
+
+        Args:
+            actions: Action vector to apply for this step.
+            agent_name: Agent name (empty = default agent).
+            timeout_ms: Server-side timeout for the step in milliseconds (0 = use default).
+            timeout: RPC timeout in seconds.
+
+        Returns:
+            ObservationResponse with observation after physics step.
+        """
+        timeout = timeout or self.timeout
+
+        resp = self.agent.Step(
+            self.pb.agent.StepRequest(
+                agent_name=agent_name,
+                actions=actions,
+                timeout_ms=timeout_ms,
+            ),
+            timeout=timeout,
+        )
+
+        if not resp.success:
+            raise RuntimeError(f"Step failed: {resp.message}")
+
+        # Extract observation from AgentFrame
+        agent_frame = resp.observation
+        observations = list(agent_frame.observations) if agent_frame.observations else []
+        actions_out = list(agent_frame.actions) if agent_frame.actions else []
+        timestamp_ms = getattr(agent_frame, "timestamp_ms", 0)
+        frame_number = getattr(agent_frame, "frame_number", 0)
+
+        # Look up cached schema for named access
+        cache_key = agent_name or "agent_0"
+        obs_names, action_names = self._schema_cache.get(cache_key, (None, None))
+
+        return ObservationResponse(
+            observation=observations,
+            actions=actions_out,
+            timestamp_ms=timestamp_ms,
+            frame_number=frame_number,
+            agent_name=cache_key,
+            observation_names=obs_names,
+            action_names=action_names,
+        )
+
+    def set_simulation_mode(
+        self,
+        mode: str = "fast",
+        timeout: Optional[float] = None,
+    ):
+        """
+        Set simulation timing mode.
+
+        Args:
+            mode: "realtime", "deterministic", or "fast"
+                - realtime: Physics runs at 1x wall-clock speed (for visualization)
+                - deterministic: Physics runs at fixed rate (for reproducibility)
+                - fast: Physics runs as fast as possible (for RL training)
+            timeout: RPC timeout in seconds.
+
+        Returns:
+            SetSimulationModeResponse with success and current mode.
+        """
+        timeout = timeout or self.timeout
+
+        mode_map = {
+            "realtime": 0,
+            "deterministic": 1,
+            "fast": 2,
+        }
+        mode_value = mode_map.get(mode.lower(), 2)  # Default to fast
+
+        return self.scene.SetSimulationMode(
+            self.pb.scene.SetSimulationModeRequest(mode=mode_value),
+            timeout=timeout,
+        )
+
+    def get_simulation_mode(self, timeout: Optional[float] = None):
+        """
+        Get current simulation timing mode.
+
+        Returns:
+            GetSimulationModeResponse with mode field (0=realtime, 1=deterministic, 2=fast).
+        """
+        timeout = timeout or self.timeout
+
+        return self.scene.GetSimulationMode(
+            self.pb.scene.GetSimulationModeRequest(),
+            timeout=timeout,
+        )
+
+    def _randomization_to_proto(self, randomization_cfg: Any):
+        """Convert domain randomization config to proto message.
+
+        Accepts any object with randomization config fields (DomainRandomizationConfig,
+        PhysicsDRCfg from luckylab, or similar).
+        """
+        proto_kwargs = {}
+
+        # Helper to get attribute value, checking for None
+        def get_val(name: str, default=None):
+            val = getattr(randomization_cfg, name, default)
+            # Handle both None and empty tuples/lists
+            if val is None or (isinstance(val, (tuple, list)) and len(val) == 0):
+                return None
+            return val
+
+        # Initial state randomization
+        pose_pos = get_val("pose_position_noise")
+        if pose_pos is not None:
+            proto_kwargs["pose_position_noise"] = list(pose_pos)
+
+        pose_ori = get_val("pose_orientation_noise")
+        if pose_ori is not None and pose_ori != 0.0:
+            proto_kwargs["pose_orientation_noise"] = pose_ori
+
+        joint_pos = get_val("joint_position_noise")
+        if joint_pos is not None and joint_pos != 0.0:
+            proto_kwargs["joint_position_noise"] = joint_pos
+
+        joint_vel = get_val("joint_velocity_noise")
+        if joint_vel is not None and joint_vel != 0.0:
+            proto_kwargs["joint_velocity_noise"] = joint_vel
+
+        # Physics parameters (ranges)
+        friction = get_val("friction_range")
+        if friction is not None:
+            proto_kwargs["friction_range"] = list(friction)
+
+        restitution = get_val("restitution_range")
+        if restitution is not None:
+            proto_kwargs["restitution_range"] = list(restitution)
+
+        mass_scale = get_val("mass_scale_range")
+        if mass_scale is not None:
+            proto_kwargs["mass_scale_range"] = list(mass_scale)
+
+        com_offset = get_val("com_offset_range")
+        if com_offset is not None:
+            proto_kwargs["com_offset_range"] = list(com_offset)
+
+        # Motor/actuator
+        motor_strength = get_val("motor_strength_range")
+        if motor_strength is not None:
+            proto_kwargs["motor_strength_range"] = list(motor_strength)
+
+        motor_offset = get_val("motor_offset_range")
+        if motor_offset is not None:
+            proto_kwargs["motor_offset_range"] = list(motor_offset)
+
+        # External disturbances
+        push_interval = get_val("push_interval_range")
+        if push_interval is not None:
+            proto_kwargs["push_interval_range"] = list(push_interval)
+
+        push_velocity = get_val("push_velocity_range")
+        if push_velocity is not None:
+            proto_kwargs["push_velocity_range"] = list(push_velocity)
+
+        # Terrain
+        terrain_type = get_val("terrain_type")
+        if terrain_type is not None and terrain_type != "":
+            proto_kwargs["terrain_type"] = terrain_type
+
+        terrain_diff = get_val("terrain_difficulty")
+        if terrain_diff is not None and terrain_diff != 0.0:
+            proto_kwargs["terrain_difficulty"] = terrain_diff
+
+        return self.pb.agent.DomainRandomizationConfig(**proto_kwargs)
+
+    def stream_telemetry(self, target_fps: int = 30):
+        """
+        Start streaming telemetry data. [PLACEHOLDER - not confirmed working]
+
+        Returns an iterator of TelemetryFrame messages.
+        """
+        raise NotImplementedError(
+            "stream_telemetry() is not yet confirmed working. "
+            "Remove this check if you want to test it."
+        )
+        return self.telemetry.StreamTelemetry(
+            self.pb.telemetry.StreamTelemetryRequest(target_fps=target_fps),
+        )
+
+    def list_cameras(self, timeout: Optional[float] = None):
+        """List available cameras. [PLACEHOLDER - not confirmed working]"""
+        raise NotImplementedError(
+            "list_cameras() is not yet confirmed working. "
+            "Remove this check if you want to test it."
+        )
+        timeout = timeout or self.timeout
+        return self.camera.ListCameras(
+            self.pb.camera.ListCamerasRequest(),
+            timeout=timeout,
+        )
+
+    def stream_camera(
+        self,
+        camera_id: Optional[int] = None,
+        camera_name: Optional[str] = None,
+        target_fps: int = 30,
+        width: int = 640,
+        height: int = 480,
+        format: str = "raw",
+    ):
+        """
+        Start streaming camera frames. [PLACEHOLDER - not confirmed working]
+
+        Args:
+            camera_id: Camera entity ID (use either id or name).
+            camera_name: Camera name (use either id or name).
+            target_fps: Desired frames per second.
+            width: Desired width (0 = native).
+            height: Desired height (0 = native).
+            format: Image format ("raw" or "jpeg").
+
+        Returns an iterator of ImageFrame messages.
+        """
+        raise NotImplementedError(
+            "stream_camera() is not yet confirmed working. "
+            "Remove this check if you want to test it."
+        )
+        if camera_id is not None:
+            request = self.pb.camera.StreamCameraRequest(
+                id=self.pb.common.EntityId(id=camera_id),
+                target_fps=target_fps,
+                width=width,
+                height=height,
+                format=format,
+            )
+        elif camera_name is not None:
+            request = self.pb.camera.StreamCameraRequest(
+                name=camera_name,
+                target_fps=target_fps,
+                width=width,
+                height=height,
+                format=format,
+            )
+        else:
+            raise ValueError("Either camera_id or camera_name must be provided")
+
+        return self.camera.StreamCamera(request)
+
+    def benchmark(
+        self,
+        duration_seconds: float = 5.0,
+        method: str = "get_observation",
+        print_results: bool = True,
+    ) -> "BenchmarkResult":
+        """
+        Benchmark gRPC performance.
+
+        Measures actual FPS and latency for observation calls.
+
+        Args:
+            duration_seconds: How long to run the benchmark.
+            method: Which method to benchmark ("get_observation" or "stream_agent").
+            print_results: Whether to print results to console.
+
+        Returns:
+            BenchmarkResult with FPS and latency statistics.
+        """
+        if method not in ("get_observation", "stream_agent"):
+            raise ValueError(f"Unknown method: {method}. Use 'get_observation' or 'stream_agent'.")
+
+        latencies: list[float] = []
+        frame_times: list[float] = []
+        frame_count = 0
+        start_time = time.perf_counter()
+        last_frame_time = start_time
+
+        if method == "get_observation":
+            while time.perf_counter() - start_time < duration_seconds:
+                call_start = time.perf_counter()
+                self.get_observation()
+                call_end = time.perf_counter()
+
+                latencies.append((call_end - call_start) * 1000)  # ms
+                frame_times.append(call_end - last_frame_time)
+                last_frame_time = call_end
+                frame_count += 1
+
+        elif method == "stream_agent":
+            stream = self.stream_agent(target_fps=1000)  # Request max FPS
+            for frame in stream:
+                now = time.perf_counter()
+                if now - start_time >= duration_seconds:
+                    break
+
+                frame_times.append(now - last_frame_time)
+                last_frame_time = now
+                frame_count += 1
+
+        total_time = time.perf_counter() - start_time
+
+        # Calculate statistics
+        actual_fps = frame_count / total_time if total_time > 0 else 0
+
+        if len(frame_times) > 1:
+            # Remove first frame (warmup)
+            frame_times = frame_times[1:]
+            fps_from_frames = 1.0 / statistics.mean(frame_times) if frame_times else 0
+        else:
+            fps_from_frames = actual_fps
+
+        result = BenchmarkResult(
+            method=method,
+            duration_seconds=total_time,
+            frame_count=frame_count,
+            actual_fps=actual_fps,
+            avg_latency_ms=statistics.mean(latencies) if latencies else 0,
+            min_latency_ms=min(latencies) if latencies else 0,
+            max_latency_ms=max(latencies) if latencies else 0,
+            std_latency_ms=statistics.stdev(latencies) if len(latencies) > 1 else 0,
+            p50_latency_ms=statistics.median(latencies) if latencies else 0,
+            p99_latency_ms=sorted(latencies)[int(len(latencies) * 0.99)] if latencies else 0,
+        )
+
+        if print_results:
+            print(f"\n{'=' * 50}")
+            print(f"Benchmark Results ({method})")
+            print(f"{'=' * 50}")
+            print(f"Duration:     {result.duration_seconds:.2f}s")
+            print(f"Frames:       {result.frame_count}")
+            print(f"Actual FPS:   {result.actual_fps:.1f}")
+            if latencies:
+                print(f"{'─' * 50}")
+                print(f"Latency (ms):")
+                print(f"  avg:        {result.avg_latency_ms:.2f}")
+                print(f"  min:        {result.min_latency_ms:.2f}")
+                print(f"  max:        {result.max_latency_ms:.2f}")
+                print(f"  std:        {result.std_latency_ms:.2f}")
+                print(f"  p50:        {result.p50_latency_ms:.2f}")
+                print(f"  p99:        {result.p99_latency_ms:.2f}")
+            print(f"{'=' * 50}\n")
+
+        return result
+
+
+@dataclass
+class BenchmarkResult:
+    """Results from a benchmark run."""
+
+    method: str
+    duration_seconds: float
+    frame_count: int
+    actual_fps: float
+    avg_latency_ms: float
+    min_latency_ms: float
+    max_latency_ms: float
+    std_latency_ms: float
+    p50_latency_ms: float
+    p99_latency_ms: float