luckyrobots 0.1.72__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/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

luckyrobots/models/observation.py

@@ -1,12 +1,6 @@
-"""
-RL observation models for LuckyRobots.
+"""RL observation models for LuckyRobots."""
 
-These are the primary return types for the simplified API:
-- ObservationResponse: returned by get_observation()
-- StateSnapshot: returned by get_state()
-"""
-
-from typing import Any, Dict, List, Optional
+from typing import Dict, List, Optional
 from pydantic import BaseModel, Field, ConfigDict
 
 
@@ -14,11 +8,11 @@ class ObservationResponse(BaseModel):
     """RL observation data from an agent.
 
     This is the return type for LuckyEngineClient.get_observation() and
-    LuckyRobots.get_observation(). It contains the RL observation vector
+    LuckyEngineClient.step(). It contains the RL observation vector
     with optional named access for debugging.
 
     Usage:
-        obs = client.get_observation()
+        obs = client.step(actions)
 
         # Flat vector for RL training
         obs.observation  # [0.1, 0.2, 0.3, ...]
@@ -110,26 +104,3 @@ class ObservationResponse(BaseModel):
         if self.action_names is not None:
             return dict(zip(self.action_names, self.actions))
         return {f"action_{i}": v for i, v in enumerate(self.actions)}
-
-
-class StateSnapshot(BaseModel):
-    """Bundled snapshot of multiple data sources.
-
-    Use LuckyEngineClient.get_state() to get a bundled snapshot when you need
-    multiple data types in one efficient call. For streaming data like telemetry,
-    use the dedicated streaming methods instead.
-    """
-
-    model_config = ConfigDict(frozen=True, arbitrary_types_allowed=True)
-
-    observation: Optional[ObservationResponse] = Field(
-        default=None, description="RL observation data (if include_observation=True)"
-    )
-    joint_state: Optional[Any] = Field(
-        default=None, description="Joint positions/velocities (if include_joint_state=True)"
-    )
-    camera_frames: Optional[List[Any]] = Field(
-        default=None, description="Camera frames (if camera_names provided)"
-    )
-    timestamp_ms: int = Field(default=0, description="Wall-clock timestamp in milliseconds")
-    frame_number: int = Field(default=0, description="Monotonic frame counter")

luckyrobots/utils.py

@@ -1,49 +1,7 @@
-"""
-Utility functions and classes for LuckyRobots.
-"""
+"""Utility functions for LuckyRobots."""
 
-import time
 import yaml
 import importlib.resources
-from collections import deque
-
-
-class FPS:
-    """Utility for measuring frames per second with a rolling window.
-
-    Usage:
-        fps = FPS(frame_window=30)
-        while running:
-            # ... do work ...
-            current_fps = fps.measure()
-    """
-
-    def __init__(self, frame_window: int = 30):
-        """Initialize FPS counter.
-
-        Args:
-            frame_window: Number of frames to average over.
-        """
-        self.frame_window = frame_window
-        self.frame_times: deque[float] = deque(maxlen=frame_window)
-        self.last_frame_time = time.perf_counter()
-
-    def measure(self) -> float:
-        """Record a frame and return current FPS.
-
-        Returns:
-            Current frames per second (averaged over window).
-        """
-        current_time = time.perf_counter()
-        frame_delta = current_time - self.last_frame_time
-        self.last_frame_time = current_time
-
-        self.frame_times.append(frame_delta)
-
-        if len(self.frame_times) >= 2:
-            avg_frame_time = sum(self.frame_times) / len(self.frame_times)
-            return 1.0 / avg_frame_time if avg_frame_time > 0 else 0.0
-        return 0.0
 
 
 def get_robot_config(robot: str = None) -> dict:

{luckyrobots-0.1.72.dist-info → luckyrobots-0.1.73.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: luckyrobots
-Version: 0.1.72
+Version: 0.1.73
 Summary: Robotics-AI Training in Hyperrealistic Game Environments
 Project-URL: Homepage, https://github.com/luckyrobots/luckyrobots
 Project-URL: Documentation, https://luckyrobots.readthedocs.io

{luckyrobots-0.1.72.dist-info → luckyrobots-0.1.73.dist-info}/RECORD

@@ -1,12 +1,10 @@
-luckyrobots/__init__.py,sha256=VWewiYhYbYCs1ZSD0KxozmG2jH2uLlBxsVgFIRivKTM,824
-luckyrobots/client.py,sha256=3F0p46FndJv02D_pSZkOn4j2tkjV6RX1ziCFFEaJsr4,36129
+luckyrobots/__init__.py,sha256=cjma4V6iH-1QWWkt9n9Y9JD8LZJgmTIXP7eE9RT2ylw,469
+luckyrobots/client.py,sha256=_OSK5WgMMcSUtSHwJRdmytB-WIJHYMazrwhkV5LSO0c,17667
 luckyrobots/luckyrobots.py,sha256=-XkIt9h7si4GK_j5Wpknb7_h56CCWi8_d1woVMuIvxU,8957
-luckyrobots/utils.py,sha256=62BqpSRBFykVRMZ5Ti2F-yKRDoyU3UNHeesDF_PVCFc,2958
+luckyrobots/utils.py,sha256=deh0OV3I6Tr6V1s0yWs4jtchsZK1vKySpUohLjqOF1I,1769
 luckyrobots/config/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-luckyrobots/config/robots.yaml,sha256=Wu2AgwhZxo9F-RLcqPJXHnqzjT8a0wR-rFBcecck_eE,5164
-luckyrobots/engine/__init__.py,sha256=-3r7aLueDF7eyumqIhTvYqS8ZNnVSJUJEHG4ybsKrjc,546
-luckyrobots/engine/check_updates.py,sha256=KGQHrj1LB0_vexktO01xx-ZvPOYKkto4VBb3H1KV7uI,7593
-luckyrobots/engine/download.py,sha256=vIb5T40Jk2BnfjPo0f4KgW14Om6P4_mvPpZ9JAlkVvg,4029
+luckyrobots/config/robots.yaml,sha256=TevKlMzsZw-8k3PDf1aOG8zs18LedquS-ayVZeqyYdU,5968
+luckyrobots/engine/__init__.py,sha256=OsyOgAnLtOfpRDHXa3Gzc1fRhJA8EfKvRkzijF6iRc8,403
 luckyrobots/engine/manager.py,sha256=8vxSevaoXo-lw2G6y74lVc-Ms8xIELK0yLswydMiOQY,13388
 luckyrobots/grpc/__init__.py,sha256=hPh-X_FEus2sxrfQB2fQjD754X5bMaUFTWm3mZmUhe0,153
 luckyrobots/grpc/generated/__init__.py,sha256=u69M4E_2LwRQSD_n4wvQyMX7dryBCrIdsho59c52Crk,732
@@ -37,11 +35,9 @@ luckyrobots/grpc/proto/mujoco.proto,sha256=b7tBvYqqvcSjmqrEax6_75-P3fIHHZq63A1HV
 luckyrobots/grpc/proto/scene.proto,sha256=ZypWsUzpgplGsQPP0FXJpyY4rSxgWYGsniM4vofhnak,3075
 luckyrobots/grpc/proto/telemetry.proto,sha256=PZiUoA0bpwuvsBUdoQQdBNGWOuhlBMKAiBpwqPZiJgY,1481
 luckyrobots/grpc/proto/viewport.proto,sha256=gunF8cIrVgvoAX8FNER6gw_u-IlRWAR1Q6ts0zUuqr8,1324
-luckyrobots/models/__init__.py,sha256=assqJIKZXvDGwCVM0grNLJCBWyHtKRBAaxdJb2dON10,332
-luckyrobots/models/camera.py,sha256=e-CftAndHASfokhtUtU7ujGb2q_kcXZ6-2KKvY42CKg,3682
-luckyrobots/models/observation.py,sha256=jbRiUTjOP2ZiSobsnNcks3aMPAJA6oPoKqiXwvrNQK0,4758
-luckyrobots/models/randomization.py,sha256=AicqHovzG97Ge33wtNQE-_EvKxndjEHguTjCiHfhAV8,2753
-luckyrobots-0.1.72.dist-info/METADATA,sha256=-liPc6bNv78N5A-PgTJ8YeiD5YIIU8BTO60zE-zV87Y,8379
-luckyrobots-0.1.72.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
-luckyrobots-0.1.72.dist-info/licenses/LICENSE,sha256=xsPYvRJPH_fW_sofTUknI_KvZOsD4-BqjSOTZqI6Nmw,1069
-luckyrobots-0.1.72.dist-info/RECORD,,
+luckyrobots/models/__init__.py,sha256=h_PFZ1OgJnHXfQBqO8_ULB8szCKrGA4lMfmBGZgtIDc,126
+luckyrobots/models/observation.py,sha256=H45zargSOMR4c-zPupbXNplWBTBfGdG-oQbib203eCY,3620
+luckyrobots-0.1.73.dist-info/METADATA,sha256=GJY8BZbJzlwk_1VRViO_DmCZKoBxQjOxsAst7baVY38,8379
+luckyrobots-0.1.73.dist-info/WHEEL,sha256=WLgqFyCfm_KASv4WHyYy0P3pM_m7J5L9k2skdKLirC8,87
+luckyrobots-0.1.73.dist-info/licenses/LICENSE,sha256=xsPYvRJPH_fW_sofTUknI_KvZOsD4-BqjSOTZqI6Nmw,1069
+luckyrobots-0.1.73.dist-info/RECORD,,

luckyrobots/engine/check_updates.py

@@ -1,264 +0,0 @@
-"""
-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 zlib
-from typing import Optional
-from urllib.parse import urljoin
-
-import requests
-
-logger = logging.getLogger("luckyrobots.engine.check_updates")
-
-BASE_URL = "https://builds.luckyrobots.xyz/"
-
-
-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"
-    elif os_type == "windows":
-        return "win"
-    elif os_type == "linux":
-        return "linux"
-    else:
-        raise ValueError(f"Unsupported operating system: {os_type}")
-
-
-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:
-        while True:
-            data = file.read(65536)  # Read in 64kb chunks
-            if not data:
-                break
-            crc32 = zlib.crc32(data, crc32)
-    return crc32 & 0xFFFFFFFF  # Ensure unsigned 32-bit integer
-
-
-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):
-        # Add directories
-        for dirname in dirnames:
-            dir_path = os.path.join(dirpath, dirname)
-            relative_path = os.path.relpath(dir_path, root_path)
-            file_structure.append(
-                {
-                    "path": relative_path,
-                    "type": "directory",
-                    "size": 0,
-                    "mtime": os.path.getmtime(dir_path),
-                    "crc32": 0,
-                    "mime_type": "directory",
-                }
-            )
-
-        # Add files
-        for filename in filenames:
-            file_path = os.path.join(dirpath, filename)
-            relative_path = os.path.relpath(file_path, root_path)
-            file_stat = os.stat(file_path)
-
-            # Guess the file type using mimetypes
-            file_type, _ = mimetypes.guess_type(file_path)
-            if file_type is None:
-                file_type = "application/octet-stream"
-
-            file_structure.append(
-                {
-                    "path": relative_path,
-                    "crc32": calculate_crc32(file_path),
-                    "size": file_stat.st_size,
-                    "mtime": file_stat.st_mtime,
-                    "type": "file",
-                    "mime_type": file_type,
-                }
-            )
-
-    return file_structure
-
-
-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: str) -> dict:
-    """Load data from a JSON file."""
-    with open(filename, "r") as f:
-        return json.load(f)
-
-
-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
-    cleaned = cleaned.replace("'", "")
-    # Split the path and the attribute that changed
-    parts = cleaned.rsplit("/", 1)
-    return parts[0], parts[1] if len(parts) > 1 else None
-
-
-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 = []
-
-    # Check for new and modified items
-    for path, item in dict2.items():
-        if path not in dict1:
-            item["change_type"] = "new_file"
-            result.append(item)
-        elif item["type"] == "file" and item["crc32"] != dict1[path]["crc32"]:
-            item["change_type"] = "modified"
-            result.append(item)
-
-    # Check for deleted items
-    for path, item in dict1.items():
-        if path not in dict2:
-            item["change_type"] = "deleted"
-            result.append(item)
-
-    # Remove hashmap.json from changes (it's metadata)
-    result = [item for item in result if item["path"] != "hashmap.json"]
-
-    return result
-
-
-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")
-
-    mac_structure = scan_directory(mac_path)
-    win_structure = scan_directory(win_path)
-    linux_structure = scan_directory(linux_path)
-
-    save_json(mac_structure, os.path.join(server_path, "mac/hashmap.json"))
-    save_json(win_structure, os.path.join(server_path, "win/hashmap.json"))
-    save_json(linux_structure, os.path.join(server_path, "linux/hashmap.json"))
-
-
-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
-
-    os_type = get_os_type()
-    url = urljoin(base_url, f"{os_type}/hashmap.json")
-
-    # Download the JSON file
-    try:
-        response = requests.get(url, timeout=10)
-        response.raise_for_status()
-        server_structure = response.json()
-    except requests.RequestException as e:
-        logger.warning(f"Error downloading JSON file: {e}")
-        server_structure = None
-
-    if server_structure is None:
-        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)
-
-    # Compare and return changes
-    if server_structure:
-        changes = compare_structures(client_structure, server_structure)
-        return changes
-    else:
-        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:
-        if arg.startswith("--lr-server-root="):
-            lr_server_root = arg.split("=", 1)[1]
-            break
-
-    if 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")