world-engine-client 0.1.0

Remote Gym-style Python client for a World Engine simulation server: connect(token) -> reset/step over HTTP.

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.

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):

world-engine --scenes-dir scenes serve --mode simulator \
    --scene <scene> --task <task> --allow-remote-control

Client side:

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

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.