The 5-foot-11 guard averaged 5.3 points and 1.7 assists in 13.1 minutes in a career-high 63 games last season, his fifth in the NBA.
Lucas, who has also played in Houston and Chicago, has career averages of 5.1 points, 1.5 assists and 1.0 rebounds in 11.8 minutes.
He is the son of former NBA coach and player John Lucas Jr., the No. 1 pick in the 1976 NBA draft.
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