luckyrobots 0.1.71__py3-none-any.whl → 0.1.73__py3-none-any.whl

luckyrobots/config/robots.yaml

@@ -149,103 +149,127 @@ unitreego1:
     - 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
+      - FR_hip_joint
+      - FR_thigh_joint
+      - FR_calf_joint
+      - FL_hip_joint
+      - FL_thigh_joint
+      - FL_calf_joint
+      - RR_hip_joint
+      - RR_thigh_joint
+      - RR_calf_joint
+      - RL_hip_joint
+      - RL_thigh_joint
+      - RL_calf_joint
     actuator_limits:
-      - name: FR_hip
+      - name: FR_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: FR_thigh
+        default: 0.1
+      - name: FR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FR_calf
+        default: 0.9
+      - name: FR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: FL_hip
+        default: -1.8
+      - name: FL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: FL_thigh
+        default: -0.1
+      - name: FL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FL_calf
+        default: 0.9
+      - name: FL_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RR_hip
+        default: -1.8
+      - name: RR_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RR_thigh
+        default: 0.1
+      - name: RR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RR_calf
+        default: 0.9
+      - name: RR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RL_hip
+        default: -1.8
+      - name: RL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RL_thigh
+        default: -0.1
+      - name: RL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RL_calf
+        default: 0.9
+      - name: RL_calf_joint
         lower: -2.818
         upper: -0.888
+        default: -1.8
   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
+      - FR_hip_joint
+      - FR_thigh_joint
+      - FR_calf_joint
+      - FL_hip_joint
+      - FL_thigh_joint
+      - FL_calf_joint
+      - RR_hip_joint
+      - RR_thigh_joint
+      - RR_calf_joint
+      - RL_hip_joint
+      - RL_thigh_joint
+      - RL_calf_joint
     actuator_limits:
-      - name: FR_hip
+      - name: FR_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: FR_thigh
+        default: 0.1
+      - name: FR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FR_calf
+        default: 0.9
+      - name: FR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: FL_hip
+        default: -1.8
+      - name: FL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: FL_thigh
+        default: -0.1
+      - name: FL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FL_calf
+        default: 0.9
+      - name: FL_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RR_hip
+        default: -1.8
+      - name: RR_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RR_thigh
+        default: 0.1
+      - name: RR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RR_calf
+        default: 0.9
+      - name: RR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RL_hip
+        default: -1.8
+      - name: RL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RL_thigh
+        default: -0.1
+      - name: RL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RL_calf
+        default: 0.9
+      - name: RL_calf_joint
         lower: -2.818
         upper: -0.888
+        default: -1.8

luckyrobots/engine/__init__.py

@@ -1,23 +1,8 @@
 """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,
+from luckyrobots.engine.manager import (
+    find_luckyengine_executable as find_luckyengine_executable,
 )
-
-__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",
-]
+from luckyrobots.engine.manager import is_luckyengine_running as is_luckyengine_running
+from luckyrobots.engine.manager import launch_luckyengine as launch_luckyengine
+from luckyrobots.engine.manager import stop_luckyengine as stop_luckyengine

luckyrobots/grpc/generated/agent_pb2.py

@@ -28,7 +28,7 @@ from . import mujoco_pb2 as mujoco__pb2
 from . import telemetry_pb2 as telemetry__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0b\x61gent.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\x1a\x0bmedia.proto\x1a\x0cmujoco.proto\x1a\x0ftelemetry.proto\"\x81\x01\n\x0b\x41gentSchema\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x19\n\x11observation_names\x18\x02 \x03(\t\x12\x14\n\x0c\x61\x63tion_names\x18\x03 \x03(\t\x12\x18\n\x10observation_size\x18\x04 \x01(\r\x12\x13\n\x0b\x61\x63tion_size\x18\x05 \x01(\r\"+\n\x15GetAgentSchemaRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\"@\n\x16GetAgentSchemaResponse\x12&\n\x06schema\x18\x01 \x01(\x0b\x32\x16.hazel.rpc.AgentSchema\"<\n\x12StreamAgentRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x12\n\ntarget_fps\x18\x02 \x01(\r\"\xa1\x03\n\x19\x44omainRandomizationConfig\x12\x1b\n\x13pose_position_noise\x18\x01 \x03(\x02\x12\x1e\n\x16pose_orientation_noise\x18\x02 \x01(\x02\x12\x1c\n\x14joint_position_noise\x18\x03 \x01(\x02\x12\x1c\n\x14joint_velocity_noise\x18\x04 \x01(\x02\x12\x16\n\x0e\x66riction_range\x18\x05 \x03(\x02\x12\x19\n\x11restitution_range\x18\x06 \x03(\x02\x12\x18\n\x10mass_scale_range\x18\x07 \x03(\x02\x12\x18\n\x10\x63om_offset_range\x18\x08 \x03(\x02\x12\x1c\n\x14motor_strength_range\x18\t \x03(\x02\x12\x1a\n\x12motor_offset_range\x18\n \x03(\x02\x12\x1b\n\x13push_interval_range\x18\x0b \x03(\x02\x12\x1b\n\x13push_velocity_range\x18\x0c \x03(\x02\x12\x14\n\x0cterrain_type\x18\r \x01(\t\x12\x1a\n\x12terrain_difficulty\x18\x0e \x01(\x02\"`\n\x11ResetAgentRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x37\n\tdr_config\x18\x02 \x01(\x0b\x32$.hazel.rpc.DomainRandomizationConfig\"6\n\x12ResetAgentResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x87\x01\n\nAgentFrame\x12\x14\n\x0ctimestamp_ms\x18\x01 \x01(\x04\x12\x14\n\x0c\x66rame_number\x18\x02 \x01(\r\x12\x14\n\x0cobservations\x18\x03 \x03(\x02\x12\x0f\n\x07\x61\x63tions\x18\x04 \x03(\x02\x12\x12\n\nagent_name\x18\x05 \x01(\t\x12\x12\n\ntarget_fps\x18\x06 \x01(\r\"\x87\x01\n\x15GetCameraFrameRequest\x12!\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityIdH\x00\x12\x0e\n\x04name\x18\x02 \x01(\tH\x00\x12\r\n\x05width\x18\x03 \x01(\r\x12\x0e\n\x06height\x18\x04 \x01(\r\x12\x0e\n\x06\x66ormat\x18\x05 \x01(\tB\x0c\n\nidentifier\"_\n\x17GetViewportFrameRequest\x12\x15\n\rviewport_name\x18\x01 \x01(\t\x12\r\n\x05width\x18\x02 \x01(\r\x12\x0e\n\x06height\x18\x03 \x01(\r\x12\x0e\n\x06\x66ormat\x18\x04 \x01(\t\"\xfe\x01\n\x15GetObservationRequest\x12\x12\n\nrobot_name\x18\x01 \x01(\t\x12\x12\n\nagent_name\x18\x02 \x01(\t\x12\x1b\n\x13include_joint_state\x18\x03 \x01(\x08\x12\x1b\n\x13include_agent_frame\x18\x04 \x01(\x08\x12\x19\n\x11include_telemetry\x18\x05 \x01(\x08\x12\x31\n\x07\x63\x61meras\x18\x06 \x03(\x0b\x32 .hazel.rpc.GetCameraFrameRequest\x12\x35\n\tviewports\x18\x07 \x03(\x0b\x32\".hazel.rpc.GetViewportFrameRequest\"\xd4\x02\n\x16GetObservationResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\x12\x14\n\x0ctimestamp_ms\x18\x03 \x01(\x04\x12\x14\n\x0c\x66rame_number\x18\x04 \x01(\r\x12*\n\x0bjoint_state\x18\x05 \x01(\x0b\x32\x15.hazel.rpc.JointState\x12*\n\x0b\x61gent_frame\x18\x06 \x01(\x0b\x32\x15.hazel.rpc.AgentFrame\x12,\n\ttelemetry\x18\x07 \x01(\x0b\x32\x19.hazel.rpc.TelemetryFrame\x12\x31\n\rcamera_frames\x18\x08 \x03(\x0b\x32\x1a.hazel.rpc.NamedImageFrame\x12\x33\n\x0fviewport_frames\x18\t \x03(\x0b\x32\x1a.hazel.rpc.NamedImageFrame2\xce\x02\n\x0c\x41gentService\x12U\n\x0eGetAgentSchema\x12 .hazel.rpc.GetAgentSchemaRequest\x1a!.hazel.rpc.GetAgentSchemaResponse\x12U\n\x0eGetObservation\x12 .hazel.rpc.GetObservationRequest\x1a!.hazel.rpc.GetObservationResponse\x12\x45\n\x0bStreamAgent\x12\x1d.hazel.rpc.StreamAgentRequest\x1a\x15.hazel.rpc.AgentFrame0\x01\x12I\n\nResetAgent\x12\x1c.hazel.rpc.ResetAgentRequest\x1a\x1d.hazel.rpc.ResetAgentResponseB\x03\xf8\x01\x01\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0b\x61gent.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\x1a\x0bmedia.proto\x1a\x0cmujoco.proto\x1a\x0ftelemetry.proto\"\x81\x01\n\x0b\x41gentSchema\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x19\n\x11observation_names\x18\x02 \x03(\t\x12\x14\n\x0c\x61\x63tion_names\x18\x03 \x03(\t\x12\x18\n\x10observation_size\x18\x04 \x01(\r\x12\x13\n\x0b\x61\x63tion_size\x18\x05 \x01(\r\"+\n\x15GetAgentSchemaRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\"@\n\x16GetAgentSchemaResponse\x12&\n\x06schema\x18\x01 \x01(\x0b\x32\x16.hazel.rpc.AgentSchema\"<\n\x12StreamAgentRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x12\n\ntarget_fps\x18\x02 \x01(\r\"\xa1\x03\n\x19\x44omainRandomizationConfig\x12\x1b\n\x13pose_position_noise\x18\x01 \x03(\x02\x12\x1e\n\x16pose_orientation_noise\x18\x02 \x01(\x02\x12\x1c\n\x14joint_position_noise\x18\x03 \x01(\x02\x12\x1c\n\x14joint_velocity_noise\x18\x04 \x01(\x02\x12\x16\n\x0e\x66riction_range\x18\x05 \x03(\x02\x12\x19\n\x11restitution_range\x18\x06 \x03(\x02\x12\x18\n\x10mass_scale_range\x18\x07 \x03(\x02\x12\x18\n\x10\x63om_offset_range\x18\x08 \x03(\x02\x12\x1c\n\x14motor_strength_range\x18\t \x03(\x02\x12\x1a\n\x12motor_offset_range\x18\n \x03(\x02\x12\x1b\n\x13push_interval_range\x18\x0b \x03(\x02\x12\x1b\n\x13push_velocity_range\x18\x0c \x03(\x02\x12\x14\n\x0cterrain_type\x18\r \x01(\t\x12\x1a\n\x12terrain_difficulty\x18\x0e \x01(\x02\"`\n\x11ResetAgentRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x37\n\tdr_config\x18\x02 \x01(\x0b\x32$.hazel.rpc.DomainRandomizationConfig\"6\n\x12ResetAgentResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"\x87\x01\n\nAgentFrame\x12\x14\n\x0ctimestamp_ms\x18\x01 \x01(\x04\x12\x14\n\x0c\x66rame_number\x18\x02 \x01(\r\x12\x14\n\x0cobservations\x18\x03 \x03(\x02\x12\x0f\n\x07\x61\x63tions\x18\x04 \x03(\x02\x12\x12\n\nagent_name\x18\x05 \x01(\t\x12\x12\n\ntarget_fps\x18\x06 \x01(\r\"\x87\x01\n\x15GetCameraFrameRequest\x12!\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityIdH\x00\x12\x0e\n\x04name\x18\x02 \x01(\tH\x00\x12\r\n\x05width\x18\x03 \x01(\r\x12\x0e\n\x06height\x18\x04 \x01(\r\x12\x0e\n\x06\x66ormat\x18\x05 \x01(\tB\x0c\n\nidentifier\"_\n\x17GetViewportFrameRequest\x12\x15\n\rviewport_name\x18\x01 \x01(\t\x12\r\n\x05width\x18\x02 \x01(\r\x12\x0e\n\x06height\x18\x03 \x01(\r\x12\x0e\n\x06\x66ormat\x18\x04 \x01(\t\"\xfe\x01\n\x15GetObservationRequest\x12\x12\n\nrobot_name\x18\x01 \x01(\t\x12\x12\n\nagent_name\x18\x02 \x01(\t\x12\x1b\n\x13include_joint_state\x18\x03 \x01(\x08\x12\x1b\n\x13include_agent_frame\x18\x04 \x01(\x08\x12\x19\n\x11include_telemetry\x18\x05 \x01(\x08\x12\x31\n\x07\x63\x61meras\x18\x06 \x03(\x0b\x32 .hazel.rpc.GetCameraFrameRequest\x12\x35\n\tviewports\x18\x07 \x03(\x0b\x32\".hazel.rpc.GetViewportFrameRequest\"\xd4\x02\n\x16GetObservationResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\x12\x14\n\x0ctimestamp_ms\x18\x03 \x01(\x04\x12\x14\n\x0c\x66rame_number\x18\x04 \x01(\r\x12*\n\x0bjoint_state\x18\x05 \x01(\x0b\x32\x15.hazel.rpc.JointState\x12*\n\x0b\x61gent_frame\x18\x06 \x01(\x0b\x32\x15.hazel.rpc.AgentFrame\x12,\n\ttelemetry\x18\x07 \x01(\x0b\x32\x19.hazel.rpc.TelemetryFrame\x12\x31\n\rcamera_frames\x18\x08 \x03(\x0b\x32\x1a.hazel.rpc.NamedImageFrame\x12\x33\n\x0fviewport_frames\x18\t \x03(\x0b\x32\x1a.hazel.rpc.NamedImageFrame\"F\n\x0bStepRequest\x12\x12\n\nagent_name\x18\x01 \x01(\t\x12\x0f\n\x07\x61\x63tions\x18\x02 \x03(\x02\x12\x12\n\ntimeout_ms\x18\x03 \x01(\r\"~\n\x0cStepResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\x12*\n\x0bobservation\x18\x03 \x01(\x0b\x32\x15.hazel.rpc.AgentFrame\x12 \n\x18physics_step_duration_us\x18\x04 \x01(\x04\x32\x87\x03\n\x0c\x41gentService\x12U\n\x0eGetAgentSchema\x12 .hazel.rpc.GetAgentSchemaRequest\x1a!.hazel.rpc.GetAgentSchemaResponse\x12U\n\x0eGetObservation\x12 .hazel.rpc.GetObservationRequest\x1a!.hazel.rpc.GetObservationResponse\x12\x45\n\x0bStreamAgent\x12\x1d.hazel.rpc.StreamAgentRequest\x1a\x15.hazel.rpc.AgentFrame0\x01\x12I\n\nResetAgent\x12\x1c.hazel.rpc.ResetAgentRequest\x1a\x1d.hazel.rpc.ResetAgentResponse\x12\x37\n\x04Step\x12\x16.hazel.rpc.StepRequest\x1a\x17.hazel.rpc.StepResponseB\x03\xf8\x01\x01\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -60,6 +60,10 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_GETOBSERVATIONREQUEST']._serialized_end=1591
   _globals['_GETOBSERVATIONRESPONSE']._serialized_start=1594
   _globals['_GETOBSERVATIONRESPONSE']._serialized_end=1934
-  _globals['_AGENTSERVICE']._serialized_start=1937
-  _globals['_AGENTSERVICE']._serialized_end=2271
+  _globals['_STEPREQUEST']._serialized_start=1936
+  _globals['_STEPREQUEST']._serialized_end=2006
+  _globals['_STEPRESPONSE']._serialized_start=2008
+  _globals['_STEPRESPONSE']._serialized_end=2134
+  _globals['_AGENTSERVICE']._serialized_start=2137
+  _globals['_AGENTSERVICE']._serialized_end=2528
 # @@protoc_insertion_point(module_scope)

luckyrobots/grpc/generated/agent_pb2_grpc.py

@@ -55,6 +55,11 @@ class AgentServiceStub(object):
                 request_serializer=agent__pb2.ResetAgentRequest.SerializeToString,
                 response_deserializer=agent__pb2.ResetAgentResponse.FromString,
                 _registered_method=True)
+        self.Step = channel.unary_unary(
+                '/hazel.rpc.AgentService/Step',
+                request_serializer=agent__pb2.StepRequest.SerializeToString,
+                response_deserializer=agent__pb2.StepResponse.FromString,
+                _registered_method=True)
 
 
 class AgentServiceServicer(object):
@@ -93,6 +98,15 @@ class AgentServiceServicer(object):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def Step(self, request, context):
+        """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.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_AgentServiceServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -116,6 +130,11 @@ def add_AgentServiceServicer_to_server(servicer, server):
                     request_deserializer=agent__pb2.ResetAgentRequest.FromString,
                     response_serializer=agent__pb2.ResetAgentResponse.SerializeToString,
             ),
+            'Step': grpc.unary_unary_rpc_method_handler(
+                    servicer.Step,
+                    request_deserializer=agent__pb2.StepRequest.FromString,
+                    response_serializer=agent__pb2.StepResponse.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'hazel.rpc.AgentService', rpc_method_handlers)
@@ -235,3 +254,30 @@ class AgentService(object):
             timeout,
             metadata,
             _registered_method=True)
+
+    @staticmethod
+    def Step(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/hazel.rpc.AgentService/Step',
+            agent__pb2.StepRequest.SerializeToString,
+            agent__pb2.StepResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

luckyrobots/grpc/generated/scene_pb2.py

@@ -25,7 +25,7 @@ _sym_db = _symbol_database.Default()
 from . import common_pb2 as common__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bscene.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\"x\n\nEntityInfo\x12\x1f\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityId\x12\x0c\n\x04name\x18\x02 \x01(\t\x12\'\n\ttransform\x18\x03 \x01(\x0b\x32\x14.hazel.rpc.Transform\x12\x12\n\ncomponents\x18\x04 \x03(\t\"\x15\n\x13GetSceneInfoRequest\"T\n\x14GetSceneInfoResponse\x12\x12\n\nscene_name\x18\x01 \x01(\t\x12\x12\n\nscene_path\x18\x02 \x01(\t\x12\x14\n\x0c\x65ntity_count\x18\x03 \x01(\r\"M\n\x13ListEntitiesRequest\x12\x1a\n\x12include_transforms\x18\x01 \x01(\x08\x12\x1a\n\x12include_components\x18\x02 \x01(\x08\"?\n\x14ListEntitiesResponse\x12\'\n\x08\x65ntities\x18\x01 \x03(\x0b\x32\x15.hazel.rpc.EntityInfo\"S\n\x10GetEntityRequest\x12!\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityIdH\x00\x12\x0e\n\x04name\x18\x02 \x01(\tH\x00\x42\x0c\n\nidentifier\"I\n\x11GetEntityResponse\x12\r\n\x05\x66ound\x18\x01 \x01(\x08\x12%\n\x06\x65ntity\x18\x02 \x01(\x0b\x32\x15.hazel.rpc.EntityInfo\"e\n\x19SetEntityTransformRequest\x12\x1f\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityId\x12\'\n\ttransform\x18\x02 \x01(\x0b\x32\x14.hazel.rpc.Transform\">\n\x1aSetEntityTransformResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t2\xdb\x02\n\x0cSceneService\x12O\n\x0cGetSceneInfo\x12\x1e.hazel.rpc.GetSceneInfoRequest\x1a\x1f.hazel.rpc.GetSceneInfoResponse\x12O\n\x0cListEntities\x12\x1e.hazel.rpc.ListEntitiesRequest\x1a\x1f.hazel.rpc.ListEntitiesResponse\x12\x46\n\tGetEntity\x12\x1b.hazel.rpc.GetEntityRequest\x1a\x1c.hazel.rpc.GetEntityResponse\x12\x61\n\x12SetEntityTransform\x12$.hazel.rpc.SetEntityTransformRequest\x1a%.hazel.rpc.SetEntityTransformResponseB\x03\xf8\x01\x01\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0bscene.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\"x\n\nEntityInfo\x12\x1f\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityId\x12\x0c\n\x04name\x18\x02 \x01(\t\x12\'\n\ttransform\x18\x03 \x01(\x0b\x32\x14.hazel.rpc.Transform\x12\x12\n\ncomponents\x18\x04 \x03(\t\"\x15\n\x13GetSceneInfoRequest\"T\n\x14GetSceneInfoResponse\x12\x12\n\nscene_name\x18\x01 \x01(\t\x12\x12\n\nscene_path\x18\x02 \x01(\t\x12\x14\n\x0c\x65ntity_count\x18\x03 \x01(\r\"M\n\x13ListEntitiesRequest\x12\x1a\n\x12include_transforms\x18\x01 \x01(\x08\x12\x1a\n\x12include_components\x18\x02 \x01(\x08\"?\n\x14ListEntitiesResponse\x12\'\n\x08\x65ntities\x18\x01 \x03(\x0b\x32\x15.hazel.rpc.EntityInfo\"S\n\x10GetEntityRequest\x12!\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityIdH\x00\x12\x0e\n\x04name\x18\x02 \x01(\tH\x00\x42\x0c\n\nidentifier\"I\n\x11GetEntityResponse\x12\r\n\x05\x66ound\x18\x01 \x01(\x08\x12%\n\x06\x65ntity\x18\x02 \x01(\x0b\x32\x15.hazel.rpc.EntityInfo\"e\n\x19SetEntityTransformRequest\x12\x1f\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityId\x12\'\n\ttransform\x18\x02 \x01(\x0b\x32\x14.hazel.rpc.Transform\">\n\x1aSetEntityTransformResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\"C\n\x18SetSimulationModeRequest\x12\'\n\x04mode\x18\x01 \x01(\x0e\x32\x19.hazel.rpc.SimulationMode\"n\n\x19SetSimulationModeResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x0f\n\x07message\x18\x02 \x01(\t\x12/\n\x0c\x63urrent_mode\x18\x03 \x01(\x0e\x32\x19.hazel.rpc.SimulationMode\"\x1a\n\x18GetSimulationModeRequest\"D\n\x19GetSimulationModeResponse\x12\'\n\x04mode\x18\x01 \x01(\x0e\x32\x19.hazel.rpc.SimulationMode*k\n\x0eSimulationMode\x12\x1c\n\x18SIMULATION_MODE_REALTIME\x10\x00\x12!\n\x1dSIMULATION_MODE_DETERMINISTIC\x10\x01\x12\x18\n\x14SIMULATION_MODE_FAST\x10\x02\x32\x9b\x04\n\x0cSceneService\x12O\n\x0cGetSceneInfo\x12\x1e.hazel.rpc.GetSceneInfoRequest\x1a\x1f.hazel.rpc.GetSceneInfoResponse\x12O\n\x0cListEntities\x12\x1e.hazel.rpc.ListEntitiesRequest\x1a\x1f.hazel.rpc.ListEntitiesResponse\x12\x46\n\tGetEntity\x12\x1b.hazel.rpc.GetEntityRequest\x1a\x1c.hazel.rpc.GetEntityResponse\x12\x61\n\x12SetEntityTransform\x12$.hazel.rpc.SetEntityTransformRequest\x1a%.hazel.rpc.SetEntityTransformResponse\x12^\n\x11SetSimulationMode\x12#.hazel.rpc.SetSimulationModeRequest\x1a$.hazel.rpc.SetSimulationModeResponse\x12^\n\x11GetSimulationMode\x12#.hazel.rpc.GetSimulationModeRequest\x1a$.hazel.rpc.GetSimulationModeResponseB\x03\xf8\x01\x01\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
@@ -33,6 +33,8 @@ _builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'scene_pb2', _globals)
 if not _descriptor._USE_C_DESCRIPTORS:
   _globals['DESCRIPTOR']._loaded_options = None
   _globals['DESCRIPTOR']._serialized_options = b'\370\001\001'
+  _globals['_SIMULATIONMODE']._serialized_start=1021
+  _globals['_SIMULATIONMODE']._serialized_end=1128
   _globals['_ENTITYINFO']._serialized_start=40
   _globals['_ENTITYINFO']._serialized_end=160
   _globals['_GETSCENEINFOREQUEST']._serialized_start=162
@@ -51,6 +53,14 @@ if not _descriptor._USE_C_DESCRIPTORS:
   _globals['_SETENTITYTRANSFORMREQUEST']._serialized_end=676
   _globals['_SETENTITYTRANSFORMRESPONSE']._serialized_start=678
   _globals['_SETENTITYTRANSFORMRESPONSE']._serialized_end=740
-  _globals['_SCENESERVICE']._serialized_start=743
-  _globals['_SCENESERVICE']._serialized_end=1090
+  _globals['_SETSIMULATIONMODEREQUEST']._serialized_start=742
+  _globals['_SETSIMULATIONMODEREQUEST']._serialized_end=809
+  _globals['_SETSIMULATIONMODERESPONSE']._serialized_start=811
+  _globals['_SETSIMULATIONMODERESPONSE']._serialized_end=921
+  _globals['_GETSIMULATIONMODEREQUEST']._serialized_start=923
+  _globals['_GETSIMULATIONMODEREQUEST']._serialized_end=949
+  _globals['_GETSIMULATIONMODERESPONSE']._serialized_start=951
+  _globals['_GETSIMULATIONMODERESPONSE']._serialized_end=1019
+  _globals['_SCENESERVICE']._serialized_start=1131
+  _globals['_SCENESERVICE']._serialized_end=1670
 # @@protoc_insertion_point(module_scope)

luckyrobots/grpc/generated/scene_pb2_grpc.py

@@ -55,6 +55,16 @@ class SceneServiceStub(object):
                 request_serializer=scene__pb2.SetEntityTransformRequest.SerializeToString,
                 response_deserializer=scene__pb2.SetEntityTransformResponse.FromString,
                 _registered_method=True)
+        self.SetSimulationMode = channel.unary_unary(
+                '/hazel.rpc.SceneService/SetSimulationMode',
+                request_serializer=scene__pb2.SetSimulationModeRequest.SerializeToString,
+                response_deserializer=scene__pb2.SetSimulationModeResponse.FromString,
+                _registered_method=True)
+        self.GetSimulationMode = channel.unary_unary(
+                '/hazel.rpc.SceneService/GetSimulationMode',
+                request_serializer=scene__pb2.GetSimulationModeRequest.SerializeToString,
+                response_deserializer=scene__pb2.GetSimulationModeResponse.FromString,
+                _registered_method=True)
 
 
 class SceneServiceServicer(object):
@@ -85,6 +95,20 @@ class SceneServiceServicer(object):
         context.set_details('Method not implemented!')
         raise NotImplementedError('Method not implemented!')
 
+    def SetSimulationMode(self, request, context):
+        """Set simulation timing mode (realtime, deterministic, or fast).
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetSimulationMode(self, request, context):
+        """Get current simulation timing mode.
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
 
 def add_SceneServiceServicer_to_server(servicer, server):
     rpc_method_handlers = {
@@ -108,6 +132,16 @@ def add_SceneServiceServicer_to_server(servicer, server):
                     request_deserializer=scene__pb2.SetEntityTransformRequest.FromString,
                     response_serializer=scene__pb2.SetEntityTransformResponse.SerializeToString,
             ),
+            'SetSimulationMode': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetSimulationMode,
+                    request_deserializer=scene__pb2.SetSimulationModeRequest.FromString,
+                    response_serializer=scene__pb2.SetSimulationModeResponse.SerializeToString,
+            ),
+            'GetSimulationMode': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetSimulationMode,
+                    request_deserializer=scene__pb2.GetSimulationModeRequest.FromString,
+                    response_serializer=scene__pb2.GetSimulationModeResponse.SerializeToString,
+            ),
     }
     generic_handler = grpc.method_handlers_generic_handler(
             'hazel.rpc.SceneService', rpc_method_handlers)
@@ -227,3 +261,57 @@ class SceneService(object):
             timeout,
             metadata,
             _registered_method=True)
+
+    @staticmethod
+    def SetSimulationMode(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/hazel.rpc.SceneService/SetSimulationMode',
+            scene__pb2.SetSimulationModeRequest.SerializeToString,
+            scene__pb2.SetSimulationModeResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetSimulationMode(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/hazel.rpc.SceneService/GetSimulationMode',
+            scene__pb2.GetSimulationModeRequest.SerializeToString,
+            scene__pb2.GetSimulationModeResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

luckyrobots/grpc/proto/agent.proto

@@ -167,6 +167,31 @@ message GetObservationResponse {
     repeated NamedImageFrame viewport_frames = 9;
 }
 
+// =============================================================================
+// Step RPC (synchronous RL step)
+// =============================================================================
+
+// Request to step the simulation with the provided action.
+// This is the recommended interface for RL training - it combines
+// SendControl + physics step + GetObservation into a single RPC.
+message StepRequest {
+    // Agent logical name. Empty means default agent.
+    string agent_name = 1;
+    // Action vector to apply for this step.
+    repeated float actions = 2;
+    // Optional timeout in milliseconds. 0 means use server default.
+    uint32 timeout_ms = 3;
+}
+
+message StepResponse {
+    bool success = 1;
+    string message = 2;
+    // Observation after the physics step completed.
+    AgentFrame observation = 3;
+    // Time taken for the physics step in microseconds (for profiling).
+    uint64 physics_step_duration_us = 4;
+}
+
 // Per-agent RL-style observation streaming (training / inference clients consume this).
 service AgentService {
     rpc GetAgentSchema(GetAgentSchemaRequest) returns (GetAgentSchemaResponse);
@@ -181,4 +206,8 @@ service AgentService {
     // 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.
     rpc ResetAgent(ResetAgentRequest) returns (ResetAgentResponse);
+    // 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.
+    rpc Step(StepRequest) returns (StepResponse);
 }

luckyrobots/grpc/proto/scene.proto

@@ -61,10 +61,44 @@ message SetEntityTransformResponse {
     string message = 2;
 }
 
+// =============================================================================
+// Simulation Mode
+// =============================================================================
+
+// Simulation timing mode controls how physics stepping relates to wall-clock time.
+enum SimulationMode {
+    // Real-time: physics runs at 1x wall-clock speed (for visualization, games).
+    SIMULATION_MODE_REALTIME = 0;
+    // Deterministic: physics runs at fixed rate regardless of wall-clock (for reproducibility).
+    SIMULATION_MODE_DETERMINISTIC = 1;
+    // Fast: physics runs as fast as possible without real-time limiting (for RL training).
+    SIMULATION_MODE_FAST = 2;
+}
+
+message SetSimulationModeRequest {
+    SimulationMode mode = 1;
+}
+
+message SetSimulationModeResponse {
+    bool success = 1;
+    string message = 2;
+    SimulationMode current_mode = 3;
+}
+
+message GetSimulationModeRequest {}
+
+message GetSimulationModeResponse {
+    SimulationMode mode = 1;
+}
+
 // Scene inspection + basic editing.
 service SceneService {
     rpc GetSceneInfo(GetSceneInfoRequest) returns (GetSceneInfoResponse);
     rpc ListEntities(ListEntitiesRequest) returns (ListEntitiesResponse);
     rpc GetEntity(GetEntityRequest) returns (GetEntityResponse);
     rpc SetEntityTransform(SetEntityTransformRequest) returns (SetEntityTransformResponse);
+    // Set simulation timing mode (realtime, deterministic, or fast).
+    rpc SetSimulationMode(SetSimulationModeRequest) returns (SetSimulationModeResponse);
+    // Get current simulation timing mode.
+    rpc GetSimulationMode(GetSimulationModeRequest) returns (GetSimulationModeResponse);
 }

luckyrobots/luckyrobots.py

@@ -164,13 +164,44 @@ class LuckyRobots:
             raise RuntimeError(f"SendControl failed: {getattr(resp, 'message', '')}")
 
     def step(
-        self, controls: Sequence[float], sleep_s: float = 0.01
+        self,
+        actions: Sequence[float],
+        agent_name: str = "",
     ) -> ObservationResponse:
-        """Send controls, wait briefly for physics, then return a fresh observation."""
-        self.send_control(controls)
-        if sleep_s > 0:
-            time.sleep(sleep_s)
-        return self.get_observation()
+        """
+        Synchronous RL step: apply action, wait for physics, return observation.
+
+        This is the recommended interface for RL training. It uses the gRPC Step RPC
+        which combines SendControl + physics step + GetObservation into a single call,
+        eliminating one network round-trip.
+
+        Args:
+            actions: Action vector to apply for this step.
+            agent_name: Agent name (empty = default agent).
+
+        Returns:
+            ObservationResponse with observation after physics step.
+        """
+        client = self._require_client()
+        return client.step(actions=list(actions), agent_name=agent_name)
+
+    def set_simulation_mode(self, mode: str = "fast"):
+        """
+        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)
+        """
+        client = self._require_client()
+        return client.set_simulation_mode(mode=mode)
+
+    def get_simulation_mode(self):
+        """Get current simulation timing mode."""
+        client = self._require_client()
+        return client.get_simulation_mode()
 
     def reset(
         self,

luckyrobots/models/__init__.py

@@ -1,15 +1,3 @@
-"""
-Pydantic models for LuckyRobots.
-"""
+"""Pydantic models for LuckyRobots."""
 
-from .observation import ObservationResponse, StateSnapshot
-from .camera import CameraData, CameraShape
-from .randomization import DomainRandomizationConfig
-
-__all__ = [
-    "ObservationResponse",
-    "StateSnapshot",
-    "CameraData",
-    "CameraShape",
-    "DomainRandomizationConfig",
-]
+from luckyrobots.models.observation import ObservationResponse as ObservationResponse