world-engine-client 0.1.0__tar.gz

world_engine_client-0.1.0/.github/workflows/publish.yml

@@ -0,0 +1,37 @@
+# Publish to PyPI via Trusted Publishing (OIDC — no API token stored anywhere).
+# Trigger: pushing a version tag (v0.1.0). One-time setup on pypi.org required:
+# add this repo+workflow as a "pending publisher" for the `world-engine` project
+# (see README of the release process / the PR that added this file).
+name: publish
+
+on:
+  push:
+    tags: ["v*"]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+      - run: python -m pip install build
+      - run: python -m build
+      - uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/
+
+  publish:
+    needs: build
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write  # OIDC for trusted publishing
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist/
+      - uses: pypa/gh-action-pypi-publish@release/v1

world_engine_client-0.1.0/.gitignore

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+__pycache__/
+*.pyc
+*.egg-info/
+dist/
+build/
+.venv/
+.pytest_cache/
+.ruff_cache/

world_engine_client-0.1.0/LICENSE

@@ -0,0 +1,202 @@
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world_engine_client-0.1.0/PKG-INFO

@@ -0,0 +1,86 @@
+Metadata-Version: 2.4
+Name: world-engine-client
+Version: 0.1.0
+Summary: Remote Gym-style Python client for a World Engine simulation server: connect(token) -> reset/step over HTTP.
+Project-URL: Homepage, https://github.com/Grounded-Intelligence-Initiative/world-engine-client-python
+Project-URL: Repository, https://github.com/Grounded-Intelligence-Initiative/world-engine-client-python
+Author-email: Xiatao Sun <sunxiatao@gmail.com>
+License: Apache-2.0
+License-File: LICENSE
+Keywords: gaussian-splatting,gymnasium,real2sim,robotics,simulation
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.10
+Requires-Dist: numpy>=1.24
+Description-Content-Type: text/markdown
+
+# world-engine-client
+
+Remote Gym-style Python client for a World Engine
+simulation server — a Gaussian-Splatting real-to-sim robot simulation framework.
+Your Python connects with a token, becomes the (single) controller, and drives
+the MuJoCo physics with `reset`/`step`, while every browser watching the
+server's `viewer.html` sees the episode live.
+
+```bash
+pip install world-engine-client
+```
+
+Dependencies: numpy only. The import name is `world_engine_client` (the
+`world_engine` module name belongs to the simulation server package).
+
+## Usage
+
+Server side (prints the control token):
+
+```bash
+world-engine --scenes-dir scenes serve --mode simulator \
+    --scene <scene> --task <task> --allow-remote-control
+```
+
+Client side:
+
+```python
+import world_engine_client as we_client
+
+env = we_client.connect("<control token>", url="http://<host>:8080")
+obs, info = env.reset(seed=0)
+for _ in range(200):
+    action = my_policy(obs)                      # [-1,1]^4: [dx, dy, dz, gripper]
+    obs, reward, terminated, truncated, info = env.step(action)
+    if terminated or truncated:
+        obs, info = env.reset()
+env.close()
+```
+
+`obs` is a dict of numpy arrays: `proprio` (8: ee pos + quat wxyz + gripper),
+`joint_positions`, `object_state` (pos+quat per body, sorted-id order) plus
+`object_ids`. Camera-image observations ride the server's headless-renderer
+path and are not yet exposed here (see the server repo's
+`docs/remote_inference_api.md` for the design).
+
+## Semantics
+
+- Exactly one controller may be bound; `connect(token, takeover=True)` revokes
+  a dead session.
+- After `terminated`/`truncated` you must `reset()` (Gym semantics — the server
+  refuses further steps with `reset_required`).
+- `RemoteEnv` is a context manager: `with we_client.connect(...) as env:`
+  releases the controller lock on exit.
+- Errors are typed (`TokenError`, `ControllerConflictError`,
+  `ResetRequiredError`) and carry the server's "Possible fixes" hints.
+
+## Development
+
+```bash
+pip install -e . && python -m pytest
+```
+
+The wire-contract tests (real client against a real server) live in the server
+repo: `tests/test_remote_control.py`.

world_engine_client-0.1.0/README.md

@@ -0,0 +1,64 @@
+# world-engine-client
+
+Remote Gym-style Python client for a World Engine
+simulation server — a Gaussian-Splatting real-to-sim robot simulation framework.
+Your Python connects with a token, becomes the (single) controller, and drives
+the MuJoCo physics with `reset`/`step`, while every browser watching the
+server's `viewer.html` sees the episode live.
+
+```bash
+pip install world-engine-client
+```
+
+Dependencies: numpy only. The import name is `world_engine_client` (the
+`world_engine` module name belongs to the simulation server package).
+
+## Usage
+
+Server side (prints the control token):
+
+```bash
+world-engine --scenes-dir scenes serve --mode simulator \
+    --scene <scene> --task <task> --allow-remote-control
+```
+
+Client side:
+
+```python
+import world_engine_client as we_client
+
+env = we_client.connect("<control token>", url="http://<host>:8080")
+obs, info = env.reset(seed=0)
+for _ in range(200):
+    action = my_policy(obs)                      # [-1,1]^4: [dx, dy, dz, gripper]
+    obs, reward, terminated, truncated, info = env.step(action)
+    if terminated or truncated:
+        obs, info = env.reset()
+env.close()
+```
+
+`obs` is a dict of numpy arrays: `proprio` (8: ee pos + quat wxyz + gripper),
+`joint_positions`, `object_state` (pos+quat per body, sorted-id order) plus
+`object_ids`. Camera-image observations ride the server's headless-renderer
+path and are not yet exposed here (see the server repo's
+`docs/remote_inference_api.md` for the design).
+
+## Semantics
+
+- Exactly one controller may be bound; `connect(token, takeover=True)` revokes
+  a dead session.
+- After `terminated`/`truncated` you must `reset()` (Gym semantics — the server
+  refuses further steps with `reset_required`).
+- `RemoteEnv` is a context manager: `with we_client.connect(...) as env:`
+  releases the controller lock on exit.
+- Errors are typed (`TokenError`, `ControllerConflictError`,
+  `ResetRequiredError`) and carry the server's "Possible fixes" hints.
+
+## Development
+
+```bash
+pip install -e . && python -m pytest
+```
+
+The wire-contract tests (real client against a real server) live in the server
+repo: `tests/test_remote_control.py`.

world_engine_client-0.1.0/pyproject.toml

@@ -0,0 +1,39 @@
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "world-engine-client"
+version = "0.1.0"
+description = "Remote Gym-style Python client for a World Engine simulation server: connect(token) -> reset/step over HTTP."
+readme = "README.md"
+requires-python = ">=3.10"
+license = { text = "Apache-2.0" }
+authors = [{ name = "Xiatao Sun", email = "sunxiatao@gmail.com" }]
+keywords = ["robotics", "simulation", "gymnasium", "gaussian-splatting", "real2sim"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Science/Research",
+    "License :: OSI Approved :: Apache Software License",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+]
+dependencies = [
+    "numpy>=1.24",
+]
+
+[project.urls]
+Homepage = "https://github.com/Grounded-Intelligence-Initiative/world-engine-client-python"
+Repository = "https://github.com/Grounded-Intelligence-Initiative/world-engine-client-python"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/world_engine_client"]
+
+[tool.ruff]
+line-length = 100
+
+[tool.ruff.lint]
+select = ["E", "F", "I", "B", "UP", "W"]

world_engine_client-0.1.0/src/world_engine_client/__init__.py

@@ -0,0 +1,37 @@
+"""world-engine-client (import name ``world_engine_client``): drive a remote
+World Engine sim with Gym semantics.
+
+    import world_engine_client as we_client
+    env = we_client.connect("<control token>", url="http://<host>:8080")
+    obs, info = env.reset(seed=0)
+    for _ in range(100):
+        obs, reward, terminated, truncated, info = env.step([0.1, 0, -0.2, -1.0])
+        if terminated or truncated:
+            obs, info = env.reset()
+    env.close()
+
+The token is printed by ``world-engine serve --mode simulator
+--allow-remote-control``. Every browser viewing that server's viewer.html sees
+your episode live. Stdlib HTTP + numpy only — no gymnasium requirement (the
+API is 5-tuple compatible).
+"""
+
+from .env import RemoteEnv, connect
+from .errors import (
+    ControllerConflictError,
+    ProtocolError,
+    ResetRequiredError,
+    TokenError,
+    WorldEngineClientError,
+)
+
+__all__ = [
+    "connect",
+    "RemoteEnv",
+    "WorldEngineClientError",
+    "TokenError",
+    "ControllerConflictError",
+    "ResetRequiredError",
+    "ProtocolError",
+]
+__version__ = "0.1.0"

world_engine_client-0.1.0/src/world_engine_client/env.py

@@ -0,0 +1,132 @@
+"""RemoteEnv: a Gymnasium-shaped client for the World Engine /control API.
+
+Synchronous by design — an inference loop is synchronous. Transport is plain
+HTTP POST (stdlib urllib): one round-trip per step, which the lockstep
+semantics require anyway. Obs arrays come back as JSON lists and are converted
+to numpy here; camera images are a future obs key (see the design doc §4).
+"""
+
+from __future__ import annotations
+
+import json
+import urllib.error
+import urllib.request
+
+import numpy as np
+
+from .errors import WorldEngineClientError, raise_for
+
+_PROTO = 1
+
+
+def connect(
+    token: str,
+    url: str = "http://127.0.0.1:8080",
+    *,
+    takeover: bool = False,
+    timeout: float = 30.0,
+) -> RemoteEnv:
+    """Bind to the server as THE controller and return a ready RemoteEnv.
+
+    ``token`` is printed by ``world-engine serve --allow-remote-control``.
+    ``takeover=True`` revokes a controller that died without releasing."""
+    env = RemoteEnv(url.rstrip("/"), token, timeout=timeout)
+    env._connect(takeover=takeover)
+    return env
+
+
+class RemoteEnv:
+    """reset/step/close over HTTP. Use via :func:`connect`."""
+
+    def __init__(self, base_url: str, token: str, *, timeout: float = 30.0):
+        self._base = base_url
+        self._token = token
+        self._timeout = timeout
+        self._session_id: str | None = None
+        self.metadata: dict = {}
+        self.action_dim: int = 4
+        self.observation_keys: list[str] = []
+
+    # ----- Gym API ------------------------------------------------------------ #
+    def reset(self, *, seed: int | None = None, options: dict | None = None):
+        reply = self._post("/control/reset", {"seed": seed})
+        return self._np_obs(reply["obs"]), reply.get("info", {})
+
+    def step(self, action):
+        a = np.asarray(action, dtype=np.float32).reshape(-1)
+        reply = self._post("/control/step", {"action": [float(x) for x in a]})
+        return (
+            self._np_obs(reply["obs"]),
+            float(reply["reward"]),
+            bool(reply["terminated"]),
+            bool(reply["truncated"]),
+            reply.get("info", {}),
+        )
+
+    def close(self) -> None:
+        if self._session_id is None:
+            return
+        try:
+            self._post("/control/release", {})
+        except WorldEngineClientError:
+            pass  # already revoked / server gone — nothing to release
+        self._session_id = None
+
+    def __enter__(self) -> RemoteEnv:
+        return self
+
+    def __exit__(self, *exc) -> None:
+        self.close()
+
+    # ----- wire ----------------------------------------------------------------#
+    def _connect(self, *, takeover: bool) -> None:
+        reply = self._post(
+            "/control/connect", {"proto": _PROTO, "takeover": takeover}, with_session=False
+        )
+        self._session_id = reply["session_id"]
+        self.metadata = reply.get("env", {})
+        self.action_dim = int(self.metadata.get("action_dim", 4))
+        self.observation_keys = list(self.metadata.get("observation_keys", []))
+
+    def _post(self, path: str, payload: dict, *, with_session: bool = True) -> dict:
+        body = dict(payload)
+        if with_session:
+            body["session_id"] = self._session_id
+        req = urllib.request.Request(
+            self._base + path,
+            data=json.dumps(body).encode("utf-8"),
+            method="POST",
+            headers={
+                "Content-Type": "application/json",
+                "X-We-Control-Token": self._token,
+            },
+        )
+        try:
+            with urllib.request.urlopen(req, timeout=self._timeout) as r:
+                reply = json.loads(r.read().decode("utf-8"))
+        except urllib.error.HTTPError as e:
+            try:
+                reply = json.loads(e.read().decode("utf-8"))
+            except ValueError:
+                raise WorldEngineClientError(f"HTTP {e.code} from {path}") from e
+        except (urllib.error.URLError, OSError) as e:
+            raise WorldEngineClientError(
+                f"cannot reach the World Engine server at {self._base}",
+                fixes=[
+                    "Is `world-engine serve --mode simulator --allow-remote-control` running?",
+                    "Check the url= argument (host/port, and any SSH -L / Tailscale routing).",
+                ],
+            ) from e
+        if not reply.get("ok"):
+            raise_for(reply)
+        return reply
+
+    @staticmethod
+    def _np_obs(obs: dict) -> dict:
+        out: dict = {}
+        for k, v in obs.items():
+            if isinstance(v, list) and v and isinstance(v[0], (int, float)):
+                out[k] = np.asarray(v, dtype=np.float32)
+            else:
+                out[k] = v
+        return out

world_engine_client-0.1.0/src/world_engine_client/errors.py

@@ -0,0 +1,53 @@
+"""Client-side exceptions mirroring the server's error codes.
+
+Server replies carry ``{ok:false, code, error, fixes:[...]}``; ``raise_for``
+maps codes to typed exceptions and renders the fixes into the message the same
+way the World Engine CLI does ("Possible fixes:" block).
+"""
+
+from __future__ import annotations
+
+
+class WorldEngineClientError(RuntimeError):
+    """Base error; carries the server error code when one exists."""
+
+    def __init__(self, message: str, *, code: str | None = None, fixes: list[str] | None = None):
+        if fixes:
+            message += "\n  Possible fixes:\n" + "\n".join(
+                f"    {i + 1}. {f}" for i, f in enumerate(fixes)
+            )
+        super().__init__(message)
+        self.code = code
+
+
+class TokenError(WorldEngineClientError):
+    """The control token was rejected (wrong token, or the server was started
+    without --allow-remote-control)."""
+
+
+class ControllerConflictError(WorldEngineClientError):
+    """Another controller is bound; pass takeover=True to seize control."""
+
+
+class ResetRequiredError(WorldEngineClientError):
+    """step() outside an active episode — call reset() first."""
+
+
+class ProtocolError(WorldEngineClientError):
+    """The server said something this client version does not understand."""
+
+
+_BY_CODE = {
+    "bad_token": TokenError,
+    "controller_exists": ControllerConflictError,
+    "reset_required": ResetRequiredError,
+    "bad_session": ControllerConflictError,
+    "not_connected": ProtocolError,
+}
+
+
+def raise_for(reply: dict) -> None:
+    """Raise the typed exception for a ``{ok:false}`` server reply."""
+    code = reply.get("code")
+    cls = _BY_CODE.get(code, WorldEngineClientError)
+    raise cls(reply.get("error", "unknown server error"), code=code, fixes=reply.get("fixes"))