oculus-robotics 1.0.0

Real-time observability and safety for robotics simulations across all platforms

Oculus SDK - Research & Implementation

Modular, scalable SDK for robotics observability and safety.

Installation

# Basic (all platforms)
pip install oculus-robotics

# With platform-specific extras
pip install oculus-robotics[isaac-lab]
pip install oculus-robotics[ros2]
pip install oculus-robotics[mujoco]

Quick Start

from oculus.platforms.isaac_lab import IsaacLabTracer

with IsaacLabTracer(project="my_simulation") as tracer:
    for step in range(1000):
        # Your simulation code
        state = get_robot_state()
        tracer.auto_capture(state)

Development Setup

# Clone and install in dev mode
cd oculus-sdk
pip install -e ".[dev]"

# Run tests
pytest tests/

Package Structure

oculus/
├── core/              # Base tracer, connection, auth
├── platforms/         # Isaac Sim, Lab, ROS2, Mujoco, etc.
├── safety/            # Fall prevention, collision avoidance
├── prediction/        # Fall prediction, anomaly detection
└── research/          # Research paper implementations

Platform-Specific Usage

Isaac Sim

from oculus.platforms.isaac_sim import IsaacSimTracer

Isaac Lab

from oculus.platforms.isaac_lab import IsaacLabTracer

ROS 2

from oculus.platforms.ros2 import ROS2Tracer

Mujoco

from oculus.platforms.mujoco import MujocoTracer

Safety Algorithms

from oculus.safety.fall_prevention import QuadrupedSafeFall
from oculus.prediction import FallPredictor

safety = QuadrupedSafeFall(robot_type="unitree_go1")
predictor = FallPredictor()

result = safety.check_fall_risk(robot_state)
if result.intervention_needed:
    correction = safety.prevent_fall(robot_state, result)

Research Implementations

See oculus/research/ for implementations of:

• Radium paper (Unitree safe fall)
• Custom algorithms from latest research

Contributing

1. Study research paper
2. Implement in oculus/research/new_algorithm/
3. Test in oculus-testing/
4. Submit PR with paper reference

Publishing

python -m build
twine upload dist/*