luckyrobots 0.1.68__py3-none-any.whl → 0.1.70__py3-none-any.whl

luckyrobots/config/robots.yaml

@@ -1,4 +1,4 @@
-so100:
+two_pandas:
   observation_types:
     - pixels_agent_pos
   available_scenes:
@@ -7,85 +7,245 @@ so100:
     - pickandplace
   action_space:
     actuator_names:
-      - shoulder_pan
-      - shoulder_lift
-      - elbow_flex
-      - wrist_flex
-      - wrist_roll
-      - gripper
+      - L_joint1
+      - L_joint2
+      - L_joint3
+      - L_joint4
+      - L_joint5
+      - L_joint6
+      - L_joint7
+      - L_gripper
+      - R_joint1
+      - R_joint2
+      - R_joint3
+      - R_joint4
+      - R_joint5
+      - R_joint6
+      - R_joint7
+      - R_gripper
     actuator_limits:
-      - name: shoulder_pan
-        lower: -2.2
-        upper: 2.2
-      - name: shoulder_lift
-        lower: -3.14158
-        upper: 0.2
-      - name: elbow_flex
+      - name: L_joint1
+        lower: -2.8973
+        upper: 2.8973
+      - name: L_joint2
+        lower: -1.7628
+        upper: 1.7628
+      - name: L_joint3
+        lower: -2.8973
+        upper: 2.8973
+      - name: L_joint4
+        lower: -3.07179
+        upper: -0.06979
+      - name: L_joint5
+        lower: -2.8973
+        upper: 2.8973
+      - name: L_joint6
+        lower: -0.31421
+        upper: 3.45579
+      - name: L_joint7
+        lower: -3.6826
+        upper: 2.112
+      - name: L_gripper
         lower: 0.0
-        upper: 3.14158
-      - name: wrist_flex
-        lower: -2.0
-        upper: 1.8
-      - name: wrist_roll
-        lower: -3.14158
-        upper: 3.14158
-      - name: gripper
-        lower: -0.2
-        upper: 2.0
+        upper: 255.0
+      - name: R_joint1
+        lower: -2.8973
+        upper: 2.8973
+      - name: R_joint2
+        lower: -1.7628
+        upper: 1.7628
+      - name: R_joint3
+        lower: -2.8973
+        upper: 2.8973
+      - name: R_joint4
+        lower: -3.07179
+        upper: -0.06979
+      - name: R_joint5
+        lower: -2.8973
+        upper: 2.8973
+      - name: R_joint6
+        lower: -0.31421
+        upper: 3.45579
+      - name: R_joint7
+        lower: -3.6826
+        upper: 2.112
+      - name: R_gripper
+        lower: 0.0
+        upper: 255.0
   observation_space:
     actuator_names:
-      - shoulder_pan
-      - shoulder_lift
-      - elbow_flex
-      - wrist_flex
-      - wrist_roll
-      - gripper
+      - L_joint1
+      - L_joint2
+      - L_joint3
+      - L_joint4
+      - L_joint5
+      - L_joint6
+      - L_joint7
+      - L_gripper
+      - R_joint1
+      - R_joint2
+      - R_joint3
+      - R_joint4
+      - R_joint5
+      - R_joint6
+      - R_joint7
+      - R_gripper
     actuator_limits:
-      - name: shoulder_pan
-        lower: -2.2
-        upper: 2.2
-      - name: shoulder_lift
-        lower: -3.14158
-        upper: 0.2
-      - name: elbow_flex
+      - name: L_joint1
+        lower: -2.8973
+        upper: 2.8973
+      - name: L_joint2
+        lower: -1.7628
+        upper: 1.7628
+      - name: L_joint3
+        lower: -2.8973
+        upper: 2.8973
+      - name: L_joint4
+        lower: -3.07179
+        upper: -0.06979
+      - name: L_joint5
+        lower: -2.8973
+        upper: 2.8973
+      - name: L_joint6
+        lower: -0.31421
+        upper: 3.45579
+      - name: L_joint7
+        lower: -3.6826
+        upper: 2.112
+      - name: L_gripper
         lower: 0.0
-        upper: 3.14158
-      - name: wrist_flex
-        lower: -2.0
-        upper: 1.8
-      - name: wrist_roll
-        lower: -3.14158
-        upper: 3.14158
-      - name: gripper
-        lower: -0.2
-        upper: 2.0
-  camera_config:
-    laptop:
-      camera_index: 0
-      fps: 60
-      camera_resolution: [640, 480]
-    phone:
-      camera_index: 1
-      fps: 60
-      camera_resolution: [640, 480]
-
-stretch_v1:
-  observation_types:
-    - pixels_agent_pos
-  available_scenes:
-    - loft
-  available_tasks:
-    - pickandplace
-    - navigation
-  action_space:
-  observation_space:
+        upper: 255.0
+      - name: R_joint1
+        lower: -2.8973
+        upper: 2.8973
+      - name: R_joint2
+        lower: -1.7628
+        upper: 1.7628
+      - name: R_joint3
+        lower: -2.8973
+        upper: 2.8973
+      - name: R_joint4
+        lower: -3.07179
+        upper: -0.06979
+      - name: R_joint5
+        lower: -2.8973
+        upper: 2.8973
+      - name: R_joint6
+        lower: -0.31421
+        upper: 3.45579
+      - name: R_joint7
+        lower: -3.6826
+        upper: 2.112
+      - name: R_gripper
+        lower: 0.0
+        upper: 255.0
 
-dji300:
+unitreego1:
   observation_types:
-    - pixels_agent_pos
+    - agent_pos
   available_scenes:
-    - drone_flight
+    - velocity
   available_tasks:
-    - navigation
+    - locomotion
   action_space:
+    actuator_names:
+      - FR_hip
+      - FR_thigh
+      - FR_calf
+      - FL_hip
+      - FL_thigh
+      - FL_calf
+      - RR_hip
+      - RR_thigh
+      - RR_calf
+      - RL_hip
+      - RL_thigh
+      - RL_calf
+    actuator_limits:
+      - name: FR_hip
+        lower: -0.863
+        upper: 0.863
+      - name: FR_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: FR_calf
+        lower: -2.818
+        upper: -0.888
+      - name: FL_hip
+        lower: -0.863
+        upper: 0.863
+      - name: FL_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: FL_calf
+        lower: -2.818
+        upper: -0.888
+      - name: RR_hip
+        lower: -0.863
+        upper: 0.863
+      - name: RR_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: RR_calf
+        lower: -2.818
+        upper: -0.888
+      - name: RL_hip
+        lower: -0.863
+        upper: 0.863
+      - name: RL_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: RL_calf
+        lower: -2.818
+        upper: -0.888
   observation_space:
+    actuator_names:
+      - FR_hip
+      - FR_thigh
+      - FR_calf
+      - FL_hip
+      - FL_thigh
+      - FL_calf
+      - RR_hip
+      - RR_thigh
+      - RR_calf
+      - RL_hip
+      - RL_thigh
+      - RL_calf
+    actuator_limits:
+      - name: FR_hip
+        lower: -0.863
+        upper: 0.863
+      - name: FR_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: FR_calf
+        lower: -2.818
+        upper: -0.888
+      - name: FL_hip
+        lower: -0.863
+        upper: 0.863
+      - name: FL_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: FL_calf
+        lower: -2.818
+        upper: -0.888
+      - name: RR_hip
+        lower: -0.863
+        upper: 0.863
+      - name: RR_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: RR_calf
+        lower: -2.818
+        upper: -0.888
+      - name: RL_hip
+        lower: -0.863
+        upper: 0.863
+      - name: RL_thigh
+        lower: -0.686
+        upper: 4.501
+      - name: RL_calf
+        lower: -2.818
+        upper: -0.888

luckyrobots/engine/__init__.py

@@ -0,0 +1,23 @@
+"""Engine lifecycle management for LuckyEngine."""
+
+from .check_updates import check_updates
+from .download import apply_changes, get_base_url, get_os_type
+from .manager import (
+    find_luckyengine_executable,
+    is_luckyengine_running,
+    launch_luckyengine,
+    stop_luckyengine,
+)
+
+__all__ = [
+    # Manager functions
+    "launch_luckyengine",
+    "stop_luckyengine",
+    "is_luckyengine_running",
+    "find_luckyengine_executable",
+    # Update functions
+    "check_updates",
+    "apply_changes",
+    "get_base_url",
+    "get_os_type",
+]

luckyrobots/{utils → engine}/check_updates.py

@@ -1,21 +1,37 @@
+"""
+Check for LuckyEngine executable updates.
+
+This module compares local and remote file structures to detect changes.
+"""
+
 import json
+import logging
 import mimetypes
 import os
 import platform
 import re
 import sys
-import time
 import zlib
+from typing import Optional
 from urllib.parse import urljoin
 
 import requests
 
-root_path = os.path.join(os.path.dirname(__file__), "..", "..", "examples/Binary/mac")
-json_file = os.path.join(root_path, "file_structure.json")
-base_url = "https://builds.luckyrobots.xyz/"
+logger = logging.getLogger("luckyrobots.engine.check_updates")
+
+BASE_URL = "https://builds.luckyrobots.xyz/"
 
 
-def get_os_type():
+def get_os_type() -> str:
+    """
+    Get the operating system type as a string.
+
+    Returns:
+        "mac", "win", or "linux"
+
+    Raises:
+        ValueError: If the OS is not supported.
+    """
     os_type = platform.system().lower()
     if os_type == "darwin":
         return "mac"
@@ -27,9 +43,18 @@ def get_os_type():
         raise ValueError(f"Unsupported operating system: {os_type}")
 
 
-def calculate_crc32(file_path):
+def calculate_crc32(file_path: str) -> int:
+    """
+    Calculate CRC32 checksum for a file.
+
+    Args:
+        file_path: Path to the file.
+
+    Returns:
+        CRC32 checksum as unsigned 32-bit integer.
+    """
+    crc32 = 0
     with open(file_path, "rb") as file:
-        crc32 = 0
         while True:
             data = file.read(65536)  # Read in 64kb chunks
             if not data:
@@ -38,7 +63,16 @@ def calculate_crc32(file_path):
     return crc32 & 0xFFFFFFFF  # Ensure unsigned 32-bit integer
 
 
-def scan_directory(root_path):
+def scan_directory(root_path: str) -> list[dict]:
+    """
+    Scan a directory and create a file structure representation.
+
+    Args:
+        root_path: Root directory to scan.
+
+    Returns:
+        List of dictionaries containing file/directory metadata.
+    """
     file_structure = []
 
     for dirpath, dirnames, filenames in os.walk(root_path):
@@ -50,7 +84,7 @@ def scan_directory(root_path):
                 {
                     "path": relative_path,
                     "type": "directory",
-                    "size": 0,  # Directories don't have a size in this context
+                    "size": 0,
                     "mtime": os.path.getmtime(dir_path),
                     "crc32": 0,
                     "mime_type": "directory",
@@ -64,9 +98,9 @@ def scan_directory(root_path):
             file_stat = os.stat(file_path)
 
             # Guess the file type using mimetypes
-            file_type, encoding = mimetypes.guess_type(file_path)
+            file_type, _ = mimetypes.guess_type(file_path)
             if file_type is None:
-                file_type = "application/octet-stream"  # Default to binary if type can't be guessed
+                file_type = "application/octet-stream"
 
             file_structure.append(
                 {
@@ -82,17 +116,28 @@ def scan_directory(root_path):
     return file_structure
 
 
-def save_json(data, filename):
+def save_json(data: dict, filename: str) -> None:
+    """Save data to a JSON file."""
     with open(filename, "w") as f:
         json.dump(data, f, indent=2)
 
 
-def load_json(filename):
+def load_json(filename: str) -> dict:
+    """Load data from a JSON file."""
     with open(filename, "r") as f:
         return json.load(f)
 
 
-def clean_path(path):
+def clean_path(path: str) -> tuple[str, Optional[str]]:
+    """
+    Clean and parse a path string.
+
+    Args:
+        path: Path string to clean.
+
+    Returns:
+        Tuple of (directory_path, attribute_name).
+    """
     # Remove ['children'] and quotes, replace '][' with '/'
     cleaned = re.sub(r"\['children'\]", "", path).replace("']['", "/").strip("[]'")
     # Replace remaining single quotes with nothing
@@ -102,9 +147,21 @@ def clean_path(path):
     return parts[0], parts[1] if len(parts) > 1 else None
 
 
-def compare_structures(json1, json2):
-    dict1 = {item["path"]: item for item in json1}
-    dict2 = {item["path"]: item for item in json2}
+def compare_structures(
+    client_structure: list[dict], server_structure: list[dict]
+) -> list[dict]:
+    """
+    Compare two file structures and return list of changes.
+
+    Args:
+        client_structure: Local file structure.
+        server_structure: Remote file structure.
+
+    Returns:
+        List of changes (new, modified, deleted files).
+    """
+    dict1 = {item["path"]: item for item in client_structure}
+    dict2 = {item["path"]: item for item in server_structure}
 
     result = []
 
@@ -116,7 +173,6 @@ def compare_structures(json1, json2):
         elif item["type"] == "file" and item["crc32"] != dict1[path]["crc32"]:
             item["change_type"] = "modified"
             result.append(item)
-        # Unchanged items are not added to the result
 
     # Check for deleted items
     for path, item in dict1.items():
@@ -124,13 +180,19 @@ def compare_structures(json1, json2):
             item["change_type"] = "deleted"
             result.append(item)
 
-    # Remove the item with "path": "hashmap.json" from the result
+    # Remove hashmap.json from changes (it's metadata)
     result = [item for item in result if item["path"] != "hashmap.json"]
-    # save_json(result, "changes.json")
+
     return result
 
 
-def scan_server(server_path):
+def scan_server(server_path: str) -> None:
+    """
+    Scan server directory structure and save hashmap files.
+
+    Args:
+        server_path: Path to server root directory.
+    """
     mac_path = os.path.join(server_path, "mac")
     win_path = os.path.join(server_path, "win")
     linux_path = os.path.join(server_path, "linux")
@@ -144,53 +206,50 @@ def scan_server(server_path):
     save_json(linux_structure, os.path.join(server_path, "linux/hashmap.json"))
 
 
-def check_updates(root_path):
-    # Determine the operating system
-    os_type = get_os_type()
-    global base_url
-    # Set the base URL
+def check_updates(root_path: str, base_url: Optional[str] = None) -> list[dict]:
+    """
+    Check for updates by comparing local and remote file structures.
+
+    Args:
+        root_path: Local root directory to check.
+        base_url: Base URL for remote server (uses default if None).
+
+    Returns:
+        List of changes detected.
+    """
+    if base_url is None:
+        base_url = BASE_URL
 
-    # Construct the URL based on the operating system
     os_type = get_os_type()
     url = urljoin(base_url, f"{os_type}/hashmap.json")
 
     # Download the JSON file
     try:
-        response = requests.get(url)
-        response.raise_for_status()  # Raise an exception for HTTP errors
+        response = requests.get(url, timeout=10)
+        response.raise_for_status()
         server_structure = response.json()
     except requests.RequestException as e:
-        print(f"Error downloading JSON file: {e}")
+        logger.warning(f"Error downloading JSON file: {e}")
         server_structure = None
 
     if server_structure is None:
-        print("Using local scan as no remote file could be downloaded.")
+        logger.info("Using local scan as no remote file could be downloaded.")
         server_structure = {}
 
     # Scan the directory and create a new file structure
     client_structure = scan_directory(root_path)
 
-    # If a previous scan exists, compare and show changes
+    # Compare and return changes
     if server_structure:
         changes = compare_structures(client_structure, server_structure)
-
-        # for future debugging
-        # # Write the flat JSON to a file
-        # with open('changes.json', 'w') as f:
-        #     json.dump(changes, f, indent=2)
-
-        # print(f"Changes have been written to changes.json")
+        return changes
     else:
-        print("No server structure available for comparison.")
-
-    # for future debugging
-    # # Save the new structure
-    # save_json(client_structure, "./client_structure.json")
-
-    return changes
+        logger.info("No server structure available for comparison.")
+        return []
 
 
 if __name__ == "__main__":
+    # This is used as a cron job on the main server to keep file structures up to date
     lr_server_root = None
 
     for arg in sys.argv:
@@ -199,6 +258,7 @@ if __name__ == "__main__":
             break
 
     if lr_server_root:
-        # this is being used as a cron job on the main server to keep the client file structures up to date
-        print(f"Scanning server at {lr_server_root}")
+        logger.info(f"Scanning server at {lr_server_root}")
         scan_server(lr_server_root)
+    else:
+        logger.error("--lr-server-root argument required")