luckyrobots 0.1.72__py3-none-any.whl → 0.1.74__py3-none-any.whl

luckyrobots/config/robots.yaml

@@ -149,103 +149,151 @@ 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
+        scale: 0.3727530387083568
+      - name: FR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FR_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: FR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: FL_hip
+        default: -1.8
+        scale: 0.24850202580557115
+      - name: FL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: FL_thigh
+        default: -0.1
+        scale: 0.3727530387083568
+      - name: FL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FL_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: FL_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RR_hip
+        default: -1.8
+        scale: 0.24850202580557115
+      - name: RR_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RR_thigh
+        default: 0.1
+        scale: 0.3727530387083568
+      - name: RR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RR_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: RR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RL_hip
+        default: -1.8
+        scale: 0.24850202580557115
+      - name: RL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RL_thigh
+        default: -0.1
+        scale: 0.3727530387083568
+      - name: RL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RL_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: RL_calf_joint
         lower: -2.818
         upper: -0.888
+        default: -1.8
+        scale: 0.24850202580557115
   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
+        scale: 0.3727530387083568
+      - name: FR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FR_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: FR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: FL_hip
+        default: -1.8
+        scale: 0.24850202580557115
+      - name: FL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: FL_thigh
+        default: -0.1
+        scale: 0.3727530387083568
+      - name: FL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: FL_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: FL_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RR_hip
+        default: -1.8
+        scale: 0.24850202580557115
+      - name: RR_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RR_thigh
+        default: 0.1
+        scale: 0.3727530387083568
+      - name: RR_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RR_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: RR_calf_joint
         lower: -2.818
         upper: -0.888
-      - name: RL_hip
+        default: -1.8
+        scale: 0.24850202580557115
+      - name: RL_hip_joint
         lower: -0.863
         upper: 0.863
-      - name: RL_thigh
+        default: -0.1
+        scale: 0.3727530387083568
+      - name: RL_thigh_joint
         lower: -0.686
         upper: 4.501
-      - name: RL_calf
+        default: 0.9
+        scale: 0.3727530387083568
+      - name: RL_calf_joint
         lower: -2.818
         upper: -0.888
+        default: -1.8
+        scale: 0.24850202580557115

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

@@ -22,10 +22,10 @@ _runtime_version.ValidateProtobufRuntimeVersion(
 _sym_db = _symbol_database.Default()
 
 
-from . import common_pb2 as common__pb2
-from . import media_pb2 as media__pb2
-from . import mujoco_pb2 as mujoco__pb2
-from . import telemetry_pb2 as telemetry__pb2
+import common_pb2 as common__pb2
+import media_pb2 as media__pb2
+import mujoco_pb2 as mujoco__pb2
+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.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')

luckyrobots/grpc/generated/agent_pb2_grpc.py

@@ -3,7 +3,7 @@
 import grpc
 import warnings
 
-from . import agent_pb2 as agent__pb2
+import agent_pb2 as agent__pb2
 
 GRPC_GENERATED_VERSION = '1.76.0'
 GRPC_VERSION = grpc.__version__

luckyrobots/grpc/generated/camera_pb2.py

@@ -22,8 +22,8 @@ _runtime_version.ValidateProtobufRuntimeVersion(
 _sym_db = _symbol_database.Default()
 
 
-from . import common_pb2 as common__pb2
-from . import media_pb2 as media__pb2
+import common_pb2 as common__pb2
+import media_pb2 as media__pb2
 
 
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0c\x63\x61mera.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\x1a\x0bmedia.proto\";\n\nCameraInfo\x12\x1f\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityId\x12\x0c\n\x04name\x18\x02 \x01(\t\"\x14\n\x12ListCamerasRequest\"=\n\x13ListCamerasResponse\x12&\n\x07\x63\x61meras\x18\x01 \x03(\x0b\x32\x15.hazel.rpc.CameraInfo\"\x99\x01\n\x13StreamCameraRequest\x12!\n\x02id\x18\x01 \x01(\x0b\x32\x13.hazel.rpc.EntityIdH\x00\x12\x0e\n\x04name\x18\x02 \x01(\tH\x00\x12\x12\n\ntarget_fps\x18\x03 \x01(\r\x12\r\n\x05width\x18\x04 \x01(\r\x12\x0e\n\x06height\x18\x05 \x01(\r\x12\x0e\n\x06\x66ormat\x18\x06 \x01(\tB\x0c\n\nidentifier2\xa6\x01\n\rCameraService\x12L\n\x0bListCameras\x12\x1d.hazel.rpc.ListCamerasRequest\x1a\x1e.hazel.rpc.ListCamerasResponse\x12G\n\x0cStreamCamera\x12\x1e.hazel.rpc.StreamCameraRequest\x1a\x15.hazel.rpc.ImageFrame0\x01\x42\x03\xf8\x01\x01\x62\x06proto3')

luckyrobots/grpc/generated/camera_pb2_grpc.py

@@ -3,8 +3,8 @@
 import grpc
 import warnings
 
-from . import camera_pb2 as camera__pb2
-from . import media_pb2 as media__pb2
+import camera_pb2 as camera__pb2
+import media_pb2 as media__pb2
 
 GRPC_GENERATED_VERSION = '1.76.0'
 GRPC_VERSION = grpc.__version__

luckyrobots/grpc/generated/debug_pb2.py

@@ -0,0 +1,51 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: debug.proto
+# Protobuf Python Version: 6.31.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    31,
+    1,
+    '',
+    'debug.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0b\x64\x65\x62ug.proto\x12\thazel.rpc\"/\n\x0c\x44\x65\x62ugVector3\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\x12\t\n\x01z\x18\x03 \x01(\x02\"8\n\nDebugColor\x12\t\n\x01r\x18\x01 \x01(\x02\x12\t\n\x01g\x18\x02 \x01(\x02\x12\t\n\x01\x62\x18\x03 \x01(\x02\x12\t\n\x01\x61\x18\x04 \x01(\x02\"\x7f\n\tDebugLine\x12&\n\x05start\x18\x01 \x01(\x0b\x32\x17.hazel.rpc.DebugVector3\x12$\n\x03\x65nd\x18\x02 \x01(\x0b\x32\x17.hazel.rpc.DebugVector3\x12$\n\x05\x63olor\x18\x03 \x01(\x0b\x32\x15.hazel.rpc.DebugColor\"\x96\x01\n\nDebugArrow\x12\'\n\x06origin\x18\x01 \x01(\x0b\x32\x17.hazel.rpc.DebugVector3\x12*\n\tdirection\x18\x02 \x01(\x0b\x32\x17.hazel.rpc.DebugVector3\x12$\n\x05\x63olor\x18\x03 \x01(\x0b\x32\x15.hazel.rpc.DebugColor\x12\r\n\x05scale\x18\x04 \x01(\x02\"\x87\x01\n\x14\x44\x65\x62ugVelocityCommand\x12\'\n\x06origin\x18\x01 \x01(\x0b\x32\x17.hazel.rpc.DebugVector3\x12\x11\n\tlin_vel_x\x18\x02 \x01(\x02\x12\x11\n\tlin_vel_y\x18\x03 \x01(\x02\x12\x11\n\tang_vel_z\x18\x04 \x01(\x02\x12\r\n\x05scale\x18\x05 \x01(\x02\"\xb1\x01\n\x10\x44\x65\x62ugDrawRequest\x12#\n\x05lines\x18\x01 \x03(\x0b\x32\x14.hazel.rpc.DebugLine\x12%\n\x06\x61rrows\x18\x02 \x03(\x0b\x32\x15.hazel.rpc.DebugArrow\x12\x39\n\x10velocity_command\x18\x03 \x01(\x0b\x32\x1f.hazel.rpc.DebugVelocityCommand\x12\x16\n\x0e\x63lear_previous\x18\x04 \x01(\x08\"$\n\x11\x44\x65\x62ugDrawResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\x32Q\n\x0c\x44\x65\x62ugService\x12\x41\n\x04\x44raw\x12\x1b.hazel.rpc.DebugDrawRequest\x1a\x1c.hazel.rpc.DebugDrawResponseB\x03\xf8\x01\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'debug_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  _globals['DESCRIPTOR']._loaded_options = None
+  _globals['DESCRIPTOR']._serialized_options = b'\370\001\001'
+  _globals['_DEBUGVECTOR3']._serialized_start=26
+  _globals['_DEBUGVECTOR3']._serialized_end=73
+  _globals['_DEBUGCOLOR']._serialized_start=75
+  _globals['_DEBUGCOLOR']._serialized_end=131
+  _globals['_DEBUGLINE']._serialized_start=133
+  _globals['_DEBUGLINE']._serialized_end=260
+  _globals['_DEBUGARROW']._serialized_start=263
+  _globals['_DEBUGARROW']._serialized_end=413
+  _globals['_DEBUGVELOCITYCOMMAND']._serialized_start=416
+  _globals['_DEBUGVELOCITYCOMMAND']._serialized_end=551
+  _globals['_DEBUGDRAWREQUEST']._serialized_start=554
+  _globals['_DEBUGDRAWREQUEST']._serialized_end=731
+  _globals['_DEBUGDRAWRESPONSE']._serialized_start=733
+  _globals['_DEBUGDRAWRESPONSE']._serialized_end=769
+  _globals['_DEBUGSERVICE']._serialized_start=771
+  _globals['_DEBUGSERVICE']._serialized_end=852
+# @@protoc_insertion_point(module_scope)

luckyrobots/grpc/generated/debug_pb2_grpc.py

@@ -0,0 +1,100 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+import debug_pb2 as debug__pb2
+
+GRPC_GENERATED_VERSION = '1.76.0'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in debug_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class DebugServiceStub(object):
+    """Debug visualization service.
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.Draw = channel.unary_unary(
+                '/hazel.rpc.DebugService/Draw',
+                request_serializer=debug__pb2.DebugDrawRequest.SerializeToString,
+                response_deserializer=debug__pb2.DebugDrawResponse.FromString,
+                _registered_method=True)
+
+
+class DebugServiceServicer(object):
+    """Debug visualization service.
+    """
+
+    def Draw(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_DebugServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'Draw': grpc.unary_unary_rpc_method_handler(
+                    servicer.Draw,
+                    request_deserializer=debug__pb2.DebugDrawRequest.FromString,
+                    response_serializer=debug__pb2.DebugDrawResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'hazel.rpc.DebugService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('hazel.rpc.DebugService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class DebugService(object):
+    """Debug visualization service.
+    """
+
+    @staticmethod
+    def Draw(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.DebugService/Draw',
+            debug__pb2.DebugDrawRequest.SerializeToString,
+            debug__pb2.DebugDrawResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)

luckyrobots/grpc/generated/hazel_rpc_pb2.py

@@ -22,17 +22,18 @@ _runtime_version.ValidateProtobufRuntimeVersion(
 _sym_db = _symbol_database.Default()
 
 
-from . import common_pb2 as common__pb2
-from . import scene_pb2 as scene__pb2
-from . import mujoco_pb2 as mujoco__pb2
-from . import telemetry_pb2 as telemetry__pb2
-from . import media_pb2 as media__pb2
-from . import agent_pb2 as agent__pb2
-from . import viewport_pb2 as viewport__pb2
-from . import camera_pb2 as camera__pb2
+import common_pb2 as common__pb2
+import scene_pb2 as scene__pb2
+import mujoco_pb2 as mujoco__pb2
+import telemetry_pb2 as telemetry__pb2
+import media_pb2 as media__pb2
+import agent_pb2 as agent__pb2
+import viewport_pb2 as viewport__pb2
+import camera_pb2 as camera__pb2
+import debug_pb2 as debug__pb2
 
 
-DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0fhazel_rpc.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\x1a\x0bscene.proto\x1a\x0cmujoco.proto\x1a\x0ftelemetry.proto\x1a\x0bmedia.proto\x1a\x0b\x61gent.proto\x1a\x0eviewport.proto\x1a\x0c\x63\x61mera.protoB\x03\xf8\x01\x01\x62\x06proto3')
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0fhazel_rpc.proto\x12\thazel.rpc\x1a\x0c\x63ommon.proto\x1a\x0bscene.proto\x1a\x0cmujoco.proto\x1a\x0ftelemetry.proto\x1a\x0bmedia.proto\x1a\x0b\x61gent.proto\x1a\x0eviewport.proto\x1a\x0c\x63\x61mera.proto\x1a\x0b\x64\x65\x62ug.protoB\x03\xf8\x01\x01\x62\x06proto3')
 
 _globals = globals()
 _builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)

luckyrobots/grpc/generated/mujoco_pb2_grpc.py

@@ -3,7 +3,7 @@
 import grpc
 import warnings
 
-from . import mujoco_pb2 as mujoco__pb2
+import mujoco_pb2 as mujoco__pb2
 
 GRPC_GENERATED_VERSION = '1.76.0'
 GRPC_VERSION = grpc.__version__

luckyrobots/grpc/generated/scene_pb2.py

@@ -22,7 +22,7 @@ _runtime_version.ValidateProtobufRuntimeVersion(
 _sym_db = _symbol_database.Default()
 
 
-from . import common_pb2 as common__pb2
+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(\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')

luckyrobots/grpc/generated/scene_pb2_grpc.py

@@ -3,7 +3,7 @@
 import grpc
 import warnings
 
-from . import scene_pb2 as scene__pb2
+import scene_pb2 as scene__pb2
 
 GRPC_GENERATED_VERSION = '1.76.0'
 GRPC_VERSION = grpc.__version__

luckyrobots/grpc/generated/telemetry_pb2_grpc.py

@@ -3,7 +3,7 @@
 import grpc
 import warnings
 
-from . import telemetry_pb2 as telemetry__pb2
+import telemetry_pb2 as telemetry__pb2
 
 GRPC_GENERATED_VERSION = '1.76.0'
 GRPC_VERSION = grpc.__version__

luckyrobots/grpc/generated/viewport_pb2.py

@@ -22,7 +22,7 @@ _runtime_version.ValidateProtobufRuntimeVersion(
 _sym_db = _symbol_database.Default()
 
 
-from . import media_pb2 as media__pb2
+import media_pb2 as media__pb2
 
 
 DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0eviewport.proto\x12\thazel.rpc\x1a\x0bmedia.proto\"v\n\x1aStartViewportStreamRequest\x12\x15\n\rviewport_name\x18\x01 \x01(\t\x12\x12\n\ntarget_fps\x18\x02 \x01(\r\x12\r\n\x05width\x18\x03 \x01(\r\x12\x0e\n\x06height\x18\x04 \x01(\r\x12\x0e\n\x06\x66ormat\x18\x05 \x01(\t\"l\n\x14ViewportStreamConfig\x12\x11\n\tstreaming\x18\x01 \x01(\x08\x12\x15\n\rviewport_name\x18\x02 \x01(\t\x12\x0b\n\x03\x66ps\x18\x03 \x01(\r\x12\r\n\x05width\x18\x04 \x01(\r\x12\x0e\n\x06height\x18\x05 \x01(\r\"\x1b\n\x19StopViewportStreamRequest\"-\n\x1aStopViewportStreamResponse\x12\x0f\n\x07success\x18\x01 \x01(\x08\"\x18\n\x16GetViewportInfoRequest\"o\n\x17GetViewportInfoResponse\x12\x1b\n\x13\x61vailable_viewports\x18\x01 \x03(\t\x12\x37\n\x0e\x63urrent_config\x18\x02 \x01(\x0b\x32\x1f.hazel.rpc.ViewportStreamConfig2\xbd\x01\n\x0fViewportService\x12X\n\x0fGetViewportInfo\x12!.hazel.rpc.GetViewportInfoRequest\x1a\".hazel.rpc.GetViewportInfoResponse\x12P\n\x0eStreamViewport\x12%.hazel.rpc.StartViewportStreamRequest\x1a\x15.hazel.rpc.ImageFrame0\x01\x42\x03\xf8\x01\x01\x62\x06proto3')

luckyrobots/grpc/generated/viewport_pb2_grpc.py

@@ -3,8 +3,8 @@
 import grpc
 import warnings
 
-from . import media_pb2 as media__pb2
-from . import viewport_pb2 as viewport__pb2
+import media_pb2 as media__pb2
+import viewport_pb2 as viewport__pb2
 
 GRPC_GENERATED_VERSION = '1.76.0'
 GRPC_VERSION = grpc.__version__

luckyrobots/grpc/proto/debug.proto

@@ -0,0 +1,63 @@
+syntax = "proto3";
+
+// Debug visualization service for the LuckyEngine / Hazel ScriptCore gRPC API (v1).
+
+package hazel.rpc;
+
+option cc_enable_arenas = true;
+
+// A 3D vector for debug drawing.
+message DebugVector3 {
+    float x = 1;
+    float y = 2;
+    float z = 3;
+}
+
+// RGBA color (0-1 range).
+message DebugColor {
+    float r = 1;
+    float g = 2;
+    float b = 3;
+    float a = 4;
+}
+
+// A debug line to draw.
+message DebugLine {
+    DebugVector3 start = 1;
+    DebugVector3 end = 2;
+    DebugColor color = 3;
+}
+
+// A debug arrow (line with arrowhead).
+message DebugArrow {
+    DebugVector3 origin = 1;
+    DebugVector3 direction = 2;  // Direction and magnitude
+    DebugColor color = 3;
+    float scale = 4;  // Scale factor for visualization
+}
+
+// Velocity command visualization.
+message DebugVelocityCommand {
+    DebugVector3 origin = 1;      // Robot position
+    float lin_vel_x = 2;          // Forward velocity command
+    float lin_vel_y = 3;          // Lateral velocity command
+    float ang_vel_z = 4;          // Angular velocity command
+    float scale = 5;              // Visualization scale
+}
+
+// Collection of debug primitives to draw for one frame.
+message DebugDrawRequest {
+    repeated DebugLine lines = 1;
+    repeated DebugArrow arrows = 2;
+    DebugVelocityCommand velocity_command = 3;
+    bool clear_previous = 4;  // Clear previous frame's debug draws
+}
+
+message DebugDrawResponse {
+    bool success = 1;
+}
+
+// Debug visualization service.
+service DebugService {
+    rpc Draw(DebugDrawRequest) returns (DebugDrawResponse);
+}

luckyrobots/grpc/proto/hazel_rpc.proto

@@ -30,3 +30,4 @@ import "media.proto";
 import "agent.proto";
 import "viewport.proto";
 import "camera.proto";
+import "debug.proto";

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