sim2bot 0.1.0__py3-none-any.whl

sim2bot-0.1.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: sim2bot
+Version: 0.1.0
+Summary: Python client for the Sim2Bot browser robot simulator
+Author-email: Source Robotics <info@source-robotics.com>
+License-Expression: MIT
+Project-URL: Homepage, https://sim2bot.com/
+Project-URL: Documentation, https://docs.sim2bot.com/
+Project-URL: Source, https://github.com/Source-Robotics/sim2bot-python
+Project-URL: Issues, https://github.com/Source-Robotics/sim2bot-python/issues
+Project-URL: Changelog, https://github.com/Source-Robotics/sim2bot-python/blob/main/CHANGELOG.md
+Keywords: robotics,simulation,mujoco,bridge,sdk
+Classifier: Development Status :: 3 - Alpha
+Classifier: Environment :: Console
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Libraries :: Python Modules
+Requires-Python: >=3.9
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: fastapi>=0.110
+Requires-Dist: uvicorn[standard]>=0.29
+Requires-Dist: websockets>=12.0
+Provides-Extra: cv2
+Requires-Dist: opencv-python>=4.5; extra == "cv2"
+Requires-Dist: numpy>=1.21; extra == "cv2"
+Provides-Extra: av
+Requires-Dist: av>=11; extra == "av"
+Requires-Dist: numpy>=1.21; extra == "av"
+Provides-Extra: dev
+Requires-Dist: build>=1.2; extra == "dev"
+Requires-Dist: pytest>=8; extra == "dev"
+Requires-Dist: twine>=5; extra == "dev"
+Dynamic: license-file
+
+# sim2bot — Python client for the Sim2Bot simulator
+
+[![CI](https://github.com/Source-Robotics/sim2bot-python/actions/workflows/ci.yml/badge.svg)](https://github.com/Source-Robotics/sim2bot-python/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/sim2bot.svg)](https://pypi.org/project/sim2bot/)
+[![Python versions](https://img.shields.io/pypi/pyversions/sim2bot.svg)](https://pypi.org/project/sim2bot/)
+[![License: MIT](https://img.shields.io/badge/license-MIT-blue.svg)](LICENSE)
+
+Control a robot in [Sim2Bot](https://sim2bot.com/) from Python, the same way you
+would talk to a real one: send joint or Cartesian targets, read telemetry, open
+and close a gripper, subscribe to camera feeds.
+
+```python
+from sim2bot import Robot
+
+with Robot(auto_bridge=True, wait_for_sim=True) as robot:
+    arm = robot.describe()[0]
+    robot.move_to(arm.home)
+    robot.wait_until_reached(arm.home)
+    print(robot.state().q)
+```
+
+## How the pieces fit
+
+Sim2Bot runs the physics (MuJoCo, compiled to WebAssembly) **in your browser**.
+This package talks to that tab through a small local relay — the *bridge* — that
+ships inside the package itself:
+
+```
+your Python script  ──►  sim2bot bridge (localhost)  ──►  Sim2Bot tab in your browser
+      commands                 relay only                      MuJoCo physics
+      telemetry  ◄──                                  ◄──      cameras, sensors
+```
+
+The bridge forwards messages and holds no robot state of its own. Nothing about
+your scene leaves your machine.
+
+## Install
+
+```sh
+pip install sim2bot                 # control + telemetry
+pip install "sim2bot[cv2]"          # + camera frames decoded to numpy images
+```
+
+Python 3.9 or newer.
+
+## First run
+
+1. Run your script. `auto_bridge=True` starts the local bridge if it is not
+   already running, and `wait_for_sim=True` waits for the browser.
+2. Open [app.sim2bot.com](https://app.sim2bot.com/), load a robot, and click
+   **Tools → Bridge → Connect**.
+
+```python
+from sim2bot import Robot
+
+with Robot(auto_bridge=True, wait_for_sim=True) as robot:
+    for info in robot.describe():
+        print(f"[{info.index}] {info.name} id={info.id} dof={info.dof}")
+```
+
+`wait_for_sim=True` blocks until a simulator announces at least one robot; pass
+`wait_for_sim_timeout=30` for a finite wait.
+
+## What you can do
+
+```python
+from sim2bot import Robot
+
+with Robot() as robot:                      # ws://localhost:8765/ws
+    info = robot.describe()                 # dof, home, limits, gripper, cameras, ...
+    print(info[0].index, info[0].id, info[0].name, info[0].dof)
+
+    robot.move_to(info[0].home)             # joint position target
+    robot.set_velocity([0.1] * info[0].dof) # joint velocity target
+    robot.move_to_pose([0.45, 0.0, 0.35])   # Cartesian target, solved by browser IK
+    robot.move_trajectory([(0.0, q0), (1.5, q1)])   # timed joint trajectory
+    robot.stop()
+
+    state = robot.state()
+    print(state.q, state.qd, state.qdd, state.qddd)   # position ... jerk
+    print(state.tcp, state.tcp_orientation)           # TCP position + quaternion
+    print(state.tcp_linear_velocity, state.tcp_angular_velocity)
+
+    if info[0].has_gripper:
+        robot.gripper(1.0)                  # 0.0 closed .. 1.0 open
+
+    robot.base_velocity(vx=0.4, omega=0.35) # mobile / aerial bases
+
+    robot.marker("goal", "sphere", position=[0.45, 0, 0.35], scale=0.06)
+
+    for device in robot.room_devices():     # doors and windows in the scene
+        if device.motion == "actuated":
+            robot.set_room_opening(device.id, 1.0)
+
+    for cam in robot.cameras():
+        print(cam["id"], cam["label"])
+
+    with robot.camera("model:0", fps=30) as feed:     # codec="raw" for lowest latency
+        frame = feed.read(timeout=2.0)
+        image = frame.image()               # numpy BGR — needs the [cv2] extra
+```
+
+Telemetry and camera reads are **latest-value, drop-don't-queue**: they return
+the present, never a backlog.
+
+Robot discovery gives you both `index` and `id`. Address commands by `index`
+(`robot.move_to(q, robot=info.index)`); use `id` to recognise the same scene
+robot across the app and your script.
+
+Camera parameters you leave unset (`fps`, `width`, `height`, `quality`, `codec`)
+inherit that camera's setting in the app, so your script overrides the GUI only
+where it says so.
+
+Runnable versions of all of this are in [`examples/`](examples/).
+
+## Command line
+
+```sh
+sim2bot bridge        # run the local bridge explicitly
+sim2bot doctor        # check bridge, browser, TCP/UDP, video, OpenCV
+sim2bot list-robots   # wait for the simulator and print index / id / name
+sim2bot open          # open the app (override with SIM2BOT_APP_URL)
+```
+
+## Transport
+
+WebSocket by default. For a lower-latency control path with no TCP
+head-of-line blocking:
+
+```python
+Robot(transport="udp")                      # control + telemetry over UDP (8771)
+```
+
+Camera frames always use the binary video WebSocket, because one frame is far
+larger than a datagram. On localhost the two transports perform about the same;
+UDP's advantage shows over a real network.
+
+## More than one simulator, and other machines
+
+Use a room to pair one script with one browser tab:
+
+```python
+Robot(room="bench-a")                       # or SIM2BOT_BRIDGE_ROOM=bench-a
+```
+
+Without a room, commands go to the most recently connected tab.
+
+Scripts on the same machine need no credentials. To drive the bridge from
+another machine on the LAN, bind it to a LAN interface **with a token** — the
+bridge refuses non-loopback clients otherwise:
+
+```sh
+SIM2BOT_BRIDGE_TOKEN=choose-a-secret sim2bot bridge --host 0.0.0.0
+```
+
+```python
+Robot(url="ws://192.168.1.42:8765/ws", api_key="choose-a-secret")
+```
+
+## Protocol
+
+The wire format is documented in [`docs/protocol.md`](docs/protocol.md), and
+[`fixtures/v1/`](fixtures/v1/) holds one example message per type. Those
+fixtures are the contract: the tests here check this SDK against them, and the
+Sim2Bot app checks its own implementation against the same files. If you are
+writing a client in another language, implement against the fixtures.
+
+## Versions
+
+The package version is the version to quote in a bug report. Each release says
+which Sim2Bot app versions it is verified against in
+[`CHANGELOG.md`](CHANGELOG.md).
+
+## Contributing
+
+Issues and pull requests are welcome — see [`CONTRIBUTING.md`](CONTRIBUTING.md).
+This repository holds the Python client, the relay and the protocol fixtures.
+The Sim2Bot application itself is closed source, so bugs in the simulator, the
+GUI or rendering are reported here but fixed there.
+
+## Licence
+
+MIT — see [`LICENSE`](LICENSE).

sim2bot-0.1.0.dist-info/RECORD

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+sim2bot/bridge.py,sha256=fDteFET7nZbnjhw7LJhaNL-e8q-PSXbbYGBagampsXo,7007
+sim2bot/bridge_server.py,sha256=NDP2tFlvbtHdJP8NyRivXUH46lWryan-LWgz5b5GkvQ,16193
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+sim2bot-0.1.0.dist-info/licenses/LICENSE,sha256=0H-cPZ7IbBed-ETQPtv4Sp0Mnj3qg7hNofHzi6lRx_c,1079
+sim2bot-0.1.0.dist-info/METADATA,sha256=UBoi6LWCYLmpXpacMFKIQU3EY-yLTbq35I50EKPMGh8,8453
+sim2bot-0.1.0.dist-info/WHEEL,sha256=YVMoNqKzERt-wjUZwJ33xBGAwnFl-4cqbYkTtWa4itE,91
+sim2bot-0.1.0.dist-info/entry_points.txt,sha256=155w-gkvcKvkmeKb_dhF6cKqk-qSi63bdybfocQUXsI,45
+sim2bot-0.1.0.dist-info/top_level.txt,sha256=hkTHuzJ3EXe94ceGBHHzbPUeZnbMwoSJ-J5r57AsgMU,8
+sim2bot-0.1.0.dist-info/RECORD,,

sim2bot-0.1.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: setuptools (84.0.0)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

sim2bot-0.1.0.dist-info/entry_points.txt

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+[console_scripts]
+sim2bot = sim2bot.cli:main

sim2bot-0.1.0.dist-info/licenses/LICENSE

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+MIT License
+
+Copyright (c) 2026 Source Robotics d.o.o.
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

sim2bot-0.1.0.dist-info/top_level.txt

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+sim2bot