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Import the Sim2Bot Python client
The client, the local bridge relay it can start for you, the protocol fixtures every implementation is tested against, and ten runnable examples. Extracted from the Sim2Bot monorepo as a fresh tree rather than filtered history: the application that runs the physics stays closed source, and this repository is the part people write code against. It is the source of truth for the `sim2bot` package on PyPI. Co-Authored-By: Claude Opus 5 <noreply@anthropic.com> Signed-off-by: Source Robotics <30388414+PCrnjak@users.noreply.github.com>
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‎.github/ISSUE_TEMPLATE/bug_report.yml‎

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name: Bug report
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description: Something does not work as documented
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labels: ["bug"]
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body:
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- type: markdown
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attributes:
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value: |
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Most reports turn out to be about the Sim2Bot application or the bridge
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rather than the Python code, so the version and the bridge log below are
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what make a report actionable. Report it here either way — it gets
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routed.
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- type: textarea
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id: what-happened
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attributes:
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label: What happened
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description: What you expected, and what happened instead.
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validations:
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required: true
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- type: textarea
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id: reproduce
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attributes:
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label: Smallest script that shows it
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description: Python that someone else can run. Include the robot you loaded.
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render: python
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validations:
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required: true
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- type: input
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id: package-version
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attributes:
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label: sim2bot package version
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description: "`pip show sim2bot`, or the SDK line printed by `sim2bot doctor`"
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placeholder: "0.1.0"
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validations:
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required: true
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- type: input
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id: app-version
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attributes:
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label: Sim2Bot app version
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description: Shown in the app under Help. Say "not used" if the app was not involved.
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placeholder: "1.4.0 (9f2c1ab)"
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validations:
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required: true
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- type: textarea
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id: bridge-log
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attributes:
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label: Bridge output
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description: >
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The terminal output of the bridge while the problem happened, and the
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output of `sim2bot doctor`.
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render: shell
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- type: input
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id: environment
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attributes:
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label: Python and operating system
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placeholder: "Python 3.12.4, Ubuntu 24.04"
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validations:
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required: true
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- type: dropdown
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id: transport
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attributes:
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label: Transport
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options:
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- WebSocket (default)
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- UDP
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- Raw TCP
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- Not relevant
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validations:
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required: true

‎.github/ISSUE_TEMPLATE/config.yml‎

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blank_issues_enabled: false
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contact_links:
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- name: Documentation
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url: https://docs.sim2bot.com/
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about: Guides, the Python API reference and the protocol description.
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- name: Question about using Sim2Bot
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url: https://github.com/Source-Robotics/sim2bot-python/discussions
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about: Ask here rather than opening an issue.
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- name: Security problem
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url: https://github.com/Source-Robotics/sim2bot-python/blob/main/SECURITY.md
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about: Email info@source-robotics.com instead of opening a public issue.

‎.github/ISSUE_TEMPLATE/feature_request.yml‎

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name: Feature request
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description: Something the client should be able to do
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labels: ["enhancement"]
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body:
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- type: textarea
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id: problem
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attributes:
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label: What are you trying to do
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description: The task, not the API you have in mind. It often has a shorter route.
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validations:
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required: true
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- type: textarea
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id: proposal
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attributes:
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label: What you would like
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description: Sketch the call you would want to write.
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render: python
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- type: dropdown
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id: side
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attributes:
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label: Where do you think this lives
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description: A guess is fine.
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options:
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- The Python client
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- The bridge
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- The Sim2Bot application (new protocol message)
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- Not sure
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validations:
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required: true
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- type: textarea
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id: workaround
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attributes:
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label: What you do today
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description: The workaround, if you have one.

‎.github/pull_request_template.md‎

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## What this changes
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<!-- One or two sentences. Link the issue if there is one. -->
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## Why
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<!-- The problem it solves, or the behaviour it makes possible. -->
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## Checks
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- [ ] `pytest` passes locally
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- [ ] Commits are signed off (`git commit -s`) — see CONTRIBUTING.md
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- [ ] Docstrings updated where the behaviour changed
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## Protocol
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- [ ] This does not change the wire format
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If it does: which fixture in `fixtures/v1/` changed, and what the Sim2Bot
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application has to ship for it to work.

‎.github/workflows/ci.yml‎

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name: CI
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on:
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push:
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branches: [main]
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pull_request:
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permissions:
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contents: read
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concurrency:
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group: ci-${{ github.ref }}
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cancel-in-progress: true
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jobs:
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test:
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name: Python ${{ matrix.python-version }} on ${{ matrix.os }}
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runs-on: ${{ matrix.os }}
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strategy:
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fail-fast: false
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matrix:
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os: [ubuntu-latest]
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python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
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include:
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# The bridge binds sockets and spawns a server process, so check the
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# other two platforms on one version rather than the whole matrix.
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- os: macos-latest
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python-version: "3.12"
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- os: windows-latest
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python-version: "3.12"
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python-version }}
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cache: pip
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- name: Install
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run: |
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python -m pip install --upgrade pip
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pip install -e ".[dev]"
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- name: Test
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run: pytest -q
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package:
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name: Build and check the package
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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cache: pip
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- name: Build
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run: |
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python -m pip install --upgrade pip build twine
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python -m build
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- name: Check metadata
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run: twine check dist/*
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- uses: actions/upload-artifact@v4
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with:
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name: distributions
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path: dist/

‎.github/workflows/publish.yml‎

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name: Publish to PyPI
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# Runs when a release is published in GitHub. Publishing uses PyPI trusted
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# publishing (OpenID Connect), so no API token is stored in this repository.
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#
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# Set up once on PyPI: Project -> Publishing -> add a GitHub publisher with
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# owner Source-Robotics, repository sim2bot-python, workflow publish.yml and
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# environment pypi.
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on:
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release:
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types: [published]
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permissions:
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contents: read
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jobs:
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build:
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name: Build distributions
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v4
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- uses: actions/setup-python@v5
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with:
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python-version: "3.12"
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- name: Build
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run: |
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python -m pip install --upgrade pip build twine
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python -m build
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- name: Check metadata
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run: twine check dist/*
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- name: Confirm the tag matches the package version
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run: |
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tag="${GITHUB_REF_NAME#v}"
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version="$(python -c 'import tomllib,pathlib; print(tomllib.loads(pathlib.Path("pyproject.toml").read_text())["project"]["version"])')"
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if [ "$tag" != "$version" ]; then
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echo "tag $tag does not match pyproject version $version" >&2
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exit 1
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fi
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- uses: actions/upload-artifact@v4
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with:
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name: distributions
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path: dist/
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publish:
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name: Publish
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needs: build
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runs-on: ubuntu-latest
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environment:
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name: pypi
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url: https://pypi.org/p/sim2bot
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permissions:
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id-token: write # the OIDC token that PyPI trusts instead of a password
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steps:
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- uses: actions/download-artifact@v4
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with:
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name: distributions
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path: dist/
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- uses: pypa/gh-action-pypi-publish@release/v1

‎.gitignore‎

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# Python
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__pycache__/
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*.py[cod]
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*.egg-info/
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.eggs/
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build/
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dist/
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# Environments
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.venv/
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venv/
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env/
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# Tooling
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.pytest_cache/
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.mypy_cache/
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.ruff_cache/
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.coverage
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htmlcov/
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# Editors and OS
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.DS_Store
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.idea/
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.vscode/
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*.swp

‎CHANGELOG.md‎

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# Changelog
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All notable changes to the `sim2bot` package are recorded here. The format
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follows [Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and versions
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follow [Semantic Versioning](https://semver.org/).
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Each release states the Sim2Bot application versions it was verified against,
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because the protocol is what the two share.
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## [Unreleased]
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## [0.1.0] — unreleased
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First public release: the client, the local bridge and the protocol fixtures,
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extracted from the Sim2Bot monorepo.
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### Added
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- `Robot` client: joint position and velocity targets, Cartesian targets via the
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browser's IK, timed joint trajectories, gripper, mobile and aerial base
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velocity, reset and stop.
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- Telemetry with joint position, velocity, acceleration and jerk, TCP pose,
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twist, acceleration and jerk, gripper state and room devices, read
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latest-value.
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- Camera subscriptions with JPEG and raw codecs, decoded to numpy images with
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the `[cv2]` extra.
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- Scene discovery (`describe`, `cameras`, `room_devices`) with stable robot IDs.
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- Debug markers: spheres, boxes, arrows, lines, text, axes and point clouds.
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- Rooms, so one script pairs with one browser tab.
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- WebSocket, raw TCP and UDP control transports.
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- The local bridge, runnable as `sim2bot bridge` or started automatically with
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`Robot(auto_bridge=True)`.
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- CLI: `bridge`, `doctor`, `list-robots`, `open`.
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- `fixtures/v1/`, the published wire-format contract.
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### Changed
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- `sim2bot open` now opens <https://app.sim2bot.com> by default. Set
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`SIM2BOT_APP_URL` to point it elsewhere, such as a development server.
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### Verified against
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- Sim2Bot app: *(fill in at release)*
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[Unreleased]: https://github.com/Source-Robotics/sim2bot-python/compare/v0.1.0...HEAD
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[0.1.0]: https://github.com/Source-Robotics/sim2bot-python/releases/tag/v0.1.0

‎CODE_OF_CONDUCT.md‎

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# Code of conduct
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## The short version
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Be respectful. Assume the person on the other side is trying to build something
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and is short on time, as you are.
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Not welcome here: personal attacks, harassment of any kind, demeaning comments
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about who someone is, publishing someone's private information, or persistent
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disruption of a discussion.
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## Where this applies
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Everywhere this project happens: issues, pull requests, discussions, and any
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place someone is representing the project in public.
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## Reporting
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Report a problem to <info@source-robotics.com>. Reports are handled privately.
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Maintainers may edit or remove comments, close issues, or block accounts, and
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will explain why when they do.
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This is a short-form adaptation of the [Contributor Covenant](https://www.contributor-covenant.org/),
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version 2.1.

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