apyrobo 3.0.0__tar.gz

apyrobo-3.0.0/LICENSE

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apyrobo-3.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: apyrobo
+Version: 3.0.0
+Summary: Open-source AI orchestration layer for robotics, built on ROS 2
+Author: APYROBO Contributors
+License: Apache-2.0
+Project-URL: Homepage, https://github.com/apyrobo/Apyrobo
+Project-URL: Documentation, https://github.com/apyrobo/Apyrobo/tree/main/docs
+Project-URL: Repository, https://github.com/apyrobo/Apyrobo
+Project-URL: Issues, https://github.com/apyrobo/Apyrobo/issues
+Keywords: robotics,ros2,ai,llm,swarm,orchestration
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+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
+Classifier: Topic :: Software Development :: Libraries :: Application Frameworks
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: pydantic>=2.0
+Requires-Dist: litellm>=1.0
+Requires-Dist: networkx>=3.0
+Requires-Dist: pyyaml>=6.0
+Provides-Extra: dev
+Requires-Dist: pytest>=8.0; extra == "dev"
+Requires-Dist: pytest-cov>=5.0; extra == "dev"
+Requires-Dist: pytest-asyncio>=0.23; extra == "dev"
+Requires-Dist: pytest-timeout>=2.3; extra == "dev"
+Requires-Dist: hypothesis>=6.0; extra == "dev"
+Requires-Dist: ruff>=0.4; extra == "dev"
+Requires-Dist: mypy>=1.10; extra == "dev"
+Requires-Dist: pre-commit>=3.7; extra == "dev"
+Provides-Extra: registry
+Requires-Dist: fastapi>=0.110; extra == "registry"
+Requires-Dist: uvicorn[standard]>=0.27; extra == "registry"
+Requires-Dist: sqlalchemy>=2.0; extra == "registry"
+Provides-Extra: ros
+Dynamic: license-file
+
+<p align="center">
+  <strong>APYROBO</strong><br>
+  <em>The open-source AI orchestration layer for robotics</em>
+</p>
+
+<p align="center">
+  <a href="https://pypi.org/project/apyrobo/"><img src="https://badge.fury.io/py/apyrobo.svg" alt="PyPI version"></a>
+  <a href="https://github.com/apyrobo/Apyrobo/actions/workflows/ci.yml"><img src="https://github.com/apyrobo/Apyrobo/actions/workflows/ci.yml/badge.svg" alt="CI"></a>
+  <a href="https://github.com/apyrobo/Apyrobo/actions/workflows/integration.yml"><img src="https://github.com/apyrobo/Apyrobo/actions/workflows/integration.yml/badge.svg" alt="Integration Tests"></a>
+  <a href="LICENSE"><img src="https://img.shields.io/badge/License-Apache%202.0-blue.svg" alt="License: Apache 2.0"></a>
+  <a href="https://www.python.org/"><img src="https://img.shields.io/badge/python-3.10%2B-blue.svg" alt="Python"></a>
+  <a href="https://docs.ros.org/en/humble/"><img src="https://img.shields.io/badge/ROS%202-Humble-green.svg" alt="ROS 2"></a>
+  <a href="https://discord.gg/n3uX7VmrUr"><img src="https://img.shields.io/discord/1234567890?label=Discord&logo=discord&color=5865F2" alt="Discord"></a>
+</p>
+
+---
+
+**APYROBO gives AI agents the runtime to act in the physical world.** It sits on top of [ROS 2](https://docs.ros.org/en/humble/) and provides capability discovery, skill orchestration, swarm coordination, and safety enforcement. One layer, any hardware, any LLM.
+
+```
+"deliver the package to dock 3"
+        │
+        ▼
+   ┌─────────┐    ┌───────────┐    ┌──────────┐    ┌─────────┐
+   │ AI Agent │ →  │ Skill     │ →  │ Safety   │ →  │ ROS 2 / │
+   │ (any LLM)│    │ Graph     │    │ Enforcer │    │ Hardware │
+   └─────────┘    └───────────┘    └──────────┘    └─────────┘
+```
+
+<p align="center">
+  <img src="docs/demo.gif" alt="APYROBO demo — pip install, discover robot, deliver task" width="640">
+</p>
+
+### 30-Second Demo
+
+```python
+from apyrobo import Robot, Agent
+
+robot = Robot.discover("mock://turtlebot4")        # No ROS 2 needed
+agent = Agent(provider="rule")                      # No API key needed
+result = agent.execute("go to 3, 4 and pick up the object", robot)
+print(result.status)  # → completed
+```
+
+---
+
+## Why APYROBO
+
+| Challenge | How APYROBO Solves It |
+|-----------|----------------------|
+| LLMs can't control robots safely | Safety enforcer wraps every command with hard constraints |
+| Robot code is tied to hardware | Capability adapters abstract any robot behind a semantic API |
+| Multi-robot coordination is ad-hoc | Swarm bus + coordinator handles task splitting natively |
+| Skill composition is manual | Skill graph engine chains skills with pre/postconditions |
+| No standard AI-robotics interface | Model-agnostic agent layer works with any LLM provider |
+| Picking the right LLM for the hardware is hard | Compute profiles auto-select models for any platform |
+| Wiring a front-end (Slack, web, ROS) is boilerplate | `apyrobo serve` exposes a standard orchestration interface |
+
+## Features
+
+- **Capability Abstraction** — Semantic API that knows *what* robots can do, not just what topics they publish
+- **AI Agent Orchestration** — Natural language to verified skill execution with any LLM (OpenAI, Anthropic, local)
+- **Skill Graph Engine** — DAG-based task plans with precondition/postcondition verification and retry logic
+- **Safety Enforcement** — Speed clamping, collision zones, watchdog, battery checks, escalation — agents can't bypass
+- **Swarm Coordination** — Multi-robot task splitting, proximity safety, deadlock detection
+- **Observability** — Structured JSON logging, Prometheus metrics, OpenTelemetry traces, execution replay
+- **Multiple Persistence Backends** — JSON file, SQLite, Redis for state that survives crashes
+- **Hardware Auto-Discovery** — `apyrobo connect ros2://ur10` detects robot type and loads the right skill package automatically
+- **Compute Profiles** — `--profile jetson-orin` / `--profile workstation-gpu` / `--profile cpu-only` configure models for any hardware
+- **Orchestration Server** — `apyrobo serve` exposes a JSON stdio interface; plug in Slack, Discord, web UI, or ROS service
+- **Skill Package Ecosystem** — pip-installable skill packages for UR arms, Spot, Franka Panda, PX4 drones, and AGVs
+
+---
+
+## Quick Start (5 minutes, no ROS 2)
+
+### Install
+
+> **Requirements:** Python 3.10+, pip 21.3+ (run `pip install --upgrade pip` first if on macOS system Python)
+
+```bash
+pip install apyrobo
+```
+
+Or from source:
+
+```bash
+git clone https://github.com/apyrobo/apyrobo.git
+cd apyrobo
+pip install -e ".[dev]"
+```
+
+### Discover and Command
+
+```python
+from apyrobo import Robot
+
+robot = Robot.discover("mock://turtlebot4")
+caps = robot.capabilities()
+print(f"Capabilities: {[c.name for c in caps.capabilities]}")
+# → ['navigate_to', 'rotate', 'pick_object', 'place_object']
+
+robot.move(x=2.0, y=3.0, speed=0.5)
+print(robot.get_position())  # → (2.0, 3.0)
+```
+
+### Execute a Skill Graph
+
+```python
+from apyrobo import Robot, SkillExecutor, SkillGraph, BUILTIN_SKILLS
+
+robot = Robot.discover("mock://turtlebot4")
+graph = SkillGraph()
+graph.add_skill(BUILTIN_SKILLS["navigate_to"], parameters={"x": 3.0, "y": 4.0})
+graph.add_skill(BUILTIN_SKILLS["pick_object"], depends_on=["navigate_to"])
+
+executor = SkillExecutor(robot)
+result = executor.execute_graph(graph)
+print(f"{result.status.value}: {result.steps_completed}/{result.steps_total} steps")
+# → completed: 2/2 steps
+```
+
+### Use an AI Agent
+
+```python
+from apyrobo import Robot, Agent
+
+robot = Robot.discover("mock://turtlebot4")
+
+# No API key needed
+agent = Agent(provider="rule")
+
+# LLM-backed — any LiteLLM model string
+agent = Agent(provider="llm", model="claude-sonnet-4-20250514")
+
+result = agent.execute("go to 5, 3 then pick up the object", robot)
+```
+
+| Provider | Description | Requires |
+|----------|-------------|---------|
+| `rule` | Built-in rule-based planner | Nothing |
+| `llm` | LiteLLM-backed (any model) | `pip install litellm` + API key |
+| `routed` | Edge/cloud routing via InferenceRouter | `pip install litellm` |
+| `auto` | Picks `llm` if litellm is available, else `rule` | — |
+
+### Compute Profiles
+
+Select models automatically for your hardware — no LiteLLM string knowledge required:
+
+```bash
+apyrobo exec "patrol zone A" --robot mock://turtlebot4 --profile jetson-orin
+apyrobo exec "pick up the box" --robot mock://ur10     --profile workstation-gpu
+apyrobo exec "navigate to dock" --robot mock://mir100  --profile cpu-only
+```
+
+```python
+from apyrobo import Robot, Agent
+from apyrobo.compute_profiles import get_profile
+
+profile = get_profile("jetson-orin")
+agent = Agent(provider="llm", model=profile.default_llm)
+```
+
+| Profile | Target Hardware | Default LLM |
+|---------|----------------|-------------|
+| `jetson-orin` | NVIDIA Jetson Orin | `ollama/llama3.2` |
+| `workstation-gpu` | RTX 3080+ / A100 | `ollama/llama3.1:70b` |
+| `cloud` | Cloud VM / CI | `claude-sonnet-4-20250514` |
+| `cpu-only` | Laptop / Raspberry Pi | `ollama/qwen2.5:3b` |
+
+### Orchestration Server
+
+Expose APYROBO to any front-end over JSON stdio — wire it to Slack, a web UI, a ROS service, or any other system:
+
+```bash
+# stdin → JSON task messages, stdout → JSON responses
+apyrobo serve --robot mock://turtlebot4 --provider rule
+```
+
+```python
+from apyrobo.orchestration import OrchestrationServer, StdioOrchestrationAdapter
+from apyrobo import Agent
+
+adapter = StdioOrchestrationAdapter()
+server = OrchestrationServer(adapter, Agent(provider="rule"))
+server.run()
+```
+
+Each line in is a JSON task: `{"task": "navigate to dock", "robot_uri": "mock://turtlebot4"}`.
+Each line out is a JSON response: `{"task": "...", "metadata": {"status": "planned"}, "source": "orchestration_server"}`.
+
+### Custom Skills
+
+```python
+from apyrobo import Skill, SkillLibrary, Robot, Agent
+from apyrobo.core.schemas import CapabilityType
+
+skill = Skill(
+    skill_id="inspect_shelf",
+    name="inspect_shelf",
+    description="Visually inspect a shelf",
+    required_capability=CapabilityType.NAVIGATE,
+)
+lib = SkillLibrary()
+lib.load_json(skill.to_json())
+
+robot = Robot.discover("mock://turtlebot4")
+agent = Agent(provider="rule", library=lib)
+result = agent.execute("inspect shelf A3", robot)
+```
+
+See the [full quickstart guide](docs/quickstart_5min.md) for safety enforcement, swarm coordination, and LLM setup.
+
+---
+
+## Skill Packages
+
+APYROBO ships with built-in skills and a growing ecosystem of pip-installable hardware-specific packages:
+
+| Package | Hardware | Skills |
+|---------|----------|--------|
+| `apyrobo-skills-ur` | Universal Robots UR3/UR5/UR10/UR16 | `move_joints`, `move_linear`, `pick`, `place`, `move_home`, `set_tcp`, `get_pose` |
+| `apyrobo-skills-spot` | Boston Dynamics Spot | `walk_to`, `sit`, `stand`, `stair_climb`, `dock`, `capture_image`, `arm_pick` |
+| `apyrobo-skills-franka` | Franka Panda | `move_to_pose`, `grasp`, `release`, `move_home`, `cartesian_sweep`, `impedance_control` |
+| `apyrobo-skills-drone-px4` | PX4-based drones | `takeoff`, `land`, `fly_to`, `orbit`, `return_home`, `capture_image` |
+| `apyrobo-skills-agv` | MiR / Omron LD / Clearpath Husky | `navigate_to`, `follow_route`, `dock_to_station`, `load_cargo`, `unload_cargo` |
+| `apyrobo-skills-turtlebot4` | TurtleBot 4 | `patrol_area`, `dock`, `undock`, `follow_person`, `inspect_room` |
+
+```bash
+pip install apyrobo-skills-ur
+pip install apyrobo-skills-spot
+pip install apyrobo-skills-drone-px4
+```
+
+Skills register automatically via entry-points — no configuration required. See the [Skill Authoring Guide](docs/skill_authoring.md) to publish your own.
+
+---
+
+## Architecture
+
+```
+┌─────────────────────────────────────────┐
+│         Foundation Models / LLMs        │  Any provider (OpenAI, Anthropic, local)
+├─────────────────────────────────────────┤
+│  ┌─────────────────────────────────┐    │
+│  │    APYROBO Orchestration Layer  │    │  This project
+│  │                                 │    │
+│  │  Capability   Skill     Swarm   │    │
+│  │  Adapters     Graph     Coord   │    │
+│  │                                 │    │
+│  │  Sensor       Safety    Agent   │    │
+│  │  Pipelines    Enforcer  Runtime │    │
+│  │                                 │    │
+│  │  Inference    Observ-   State   │    │
+│  │  Router       ability   Store   │    │
+│  │                                 │    │
+│  │  Orchestration  Compute         │    │
+│  │  Server         Profiles        │    │
+│  └─────────────────────────────────┘    │
+├─────────────────────────────────────────┤
+│     ROS 2 (DDS, Nav2, MoveIt, TF2)     │  Industry standard, not replaced
+├─────────────────────────────────────────┤
+│   Simulators (Gazebo, Isaac Sim)        │
+├─────────────────────────────────────────┤
+│        Physical Hardware                │
+└─────────────────────────────────────────┘
+```
+
+---
+
+## Project Structure
+
+```
+apyrobo/
+├── apyrobo/              # Main package
+│   ├── core/             # Capability abstraction, robot discovery, adapters
+│   ├── skills/           # Skill graph engine, executor, AI agent integration
+│   ├── safety/           # Safety policy enforcement, watchdog, escalation
+│   ├── swarm/            # Multi-robot bus, coordinator, proximity/deadlock
+│   ├── sensors/          # Sensor pipelines, fusion, world state
+│   ├── inference/        # Multi-tier LLM routing, circuit breakers
+│   ├── orchestration/    # OrchestrationAdapter ABC, OrchestrationServer, stdio
+│   ├── compute_profiles/ # Hardware profile → model mapping
+│   ├── hardware/         # Per-robot spec files (reach, DoF, sensors, limits)
+│   ├── observability.py  # Structured logging, metrics, tracing, alerting
+│   ├── persistence.py    # State store (JSON, SQLite, Redis)
+│   └── dashboard.py      # FastAPI metrics/health dashboard
+├── packages/             # Pip-installable skill packages (UR, Spot, Franka, …)
+├── tests/                # 2000+ pytest tests (skills, safety, swarm, chaos)
+├── examples/
+│   └── workflows/        # 10 ready-made multi-robot workflow scripts
+├── docs/                 # Guides, architecture, API reference
+├── docker/               # Dockerfile + docker-compose (ROS 2 + Gazebo)
+└── .github/workflows/    # CI pipeline, nightly builds
+```
+
+---
+
+## Adapters
+
+APYROBO works with any robot through capability adapters:
+
+| Adapter | URI Scheme | Use Case |
+|---------|-----------|----------|
+| `MockAdapter` | `mock://` | Unit testing, development |
+| `GazeboAdapter` | `gazebo://` | Simulation with physics |
+| `MQTTAdapter` | `mqtt://` | IoT / remote robots |
+| `HTTPAdapter` | `http://` | REST-based robot APIs |
+| `Nav2Adapter` | `ros2://` | ROS 2 Nav2 navigation stack |
+| `MoveItAdapter` | `ros2://` | ROS 2 MoveIt 2 manipulation |
+
+Write your own: see the [Adapter Authoring Guide](docs/adapter_authoring.md).
+
+---
+
+## Connecting to a Robot
+
+| URI Scheme | What it does | Requires |
+|------------|-------------|---------|
+| `mock://` | Pure Python simulation, no external deps | Nothing |
+| `gazebo://` | Physics-aware mock with simulated delays | Nothing |
+| `gazebo_native://` | Real Gazebo bridge via socket | Gazebo running |
+| `mujoco://` | MuJoCo physics engine | `pip install mujoco` |
+| `ros2://` | Real ROS 2 robot via rclpy | ROS 2 + Docker image |
+
+For your first real robot, use the Docker image which includes ROS 2:
+
+```bash
+docker-compose up apyrobo-api
+```
+
+---
+
+## Workflow Templates
+
+`examples/workflows/` contains 10 ready-made scripts covering common robotics use cases:
+
+| Script | Description |
+|--------|-------------|
+| `patrol_loop.py` | Continuous waypoint patrol with configurable dwell time |
+| `pick_and_place.py` | Async arm workflow with MoveIt adapter and gripper control |
+| `inspection_round.py` | Checkpoint inspection with pass/fail logging and JSON report |
+| `charging_cycle.py` | Battery-aware dock/undock loop |
+| `shelf_restock.py` | Depot-to-shelf restocking with arm |
+| `delivery_run.py` | Multi-stop delivery run with return to base |
+| `multi_floor_navigation.py` | Elevator-based floor transitions with map switching |
+| `quality_inspection.py` | Async vision-based QA with defect logging |
+| `fleet_coordination.py` | Threaded round-robin task dispatch across a robot fleet |
+| `voice_commanded_robot.py` | Voice loop with mock or Whisper STT backend |
+
+---
+
+## Documentation
+
+| Document | Description |
+|----------|-------------|
+| [5-Minute Quickstart](docs/quickstart_5min.md) | Install + mock robot + first task |
+| [Full Docker Setup](docs/QUICKSTART.md) | ROS 2 + Gazebo simulation |
+| [Architecture](docs/architecture.md) | Design principles and data flow |
+| [Skill Authoring Guide](docs/skill_authoring.md) | Write, test, and publish custom skills |
+| [Adapter Authoring Guide](docs/adapter_authoring.md) | Add support for new hardware |
+| [API Reference](docs/api_reference.md) | Auto-generated from docstrings |
+| [APYROBO vs Alternatives](docs/comparison.md) | Comparison with RAI, ROS-LLM |
+| [Roadmap](ROADMAP.md) | Public milestones and contribution areas |
+
+---
+
+## Roadmap
+
+| Milestone | Focus | Status |
+|-----------|-------|--------|
+| **v0.1.0** | Foundation — core abstractions, skill graph, safety, swarm, observability | ✅ Done |
+| **v0.2.0** | Handler registry, voice, Nav2/MoveIt adapters, retry, checkpointing | ✅ Done |
+| **v0.3.0** | Memory + VLM — episodic/semantic memory, vision-language models, MuJoCo | ✅ Done |
+| **v0.4.0** | Fleet & Cloud — fleet manager, Kubernetes, REST API | ✅ Done |
+| **v1.0.0** | Stable release — API freeze, PyPI publish, changelog, migration guide | ✅ Done |
+| **v1.1.0** | Ship & discover — PyPI pipeline, compute profiles, hardware profiles | ✅ Done |
+| **v1.2.0** | Real robot hardening — Nav2 costmap, hardware-in-the-loop CI | ✅ Done |
+| **v1.3.0** | Skill ecosystem — skill packages, turtlebot4 reference package | ✅ Done |
+| **v2.0.0** | Adaptive intelligence — LLM replanning, VLM task verification, sim-to-real | ✅ Done |
+| **v3.0.0** | Universal coverage — UR, Spot, Franka, PX4 drone, AGV skill packages, orchestration server, workflow templates | ✅ Done |
+
+We have items marked **good first issue** and **help wanted** across future milestones.
+See [ROADMAP.md](ROADMAP.md) for the full technical roadmap with contribution opportunities.
+
+---
+
+## Contributing
+
+See [CONTRIBUTING.md](CONTRIBUTING.md) for development setup and guidelines.
+
+```bash
+# Run the test suite
+pip install -e ".[dev]"
+pytest tests/ -v -o "addopts="
+```
+
+---
+
+## License
+
+Apache 2.0 — see [LICENSE](LICENSE).
+
+---
+
+<p align="center">
+  <strong>APYROBO</strong> · Built on ROS 2 · Open Source · Any Hardware · Any LLM
+</p>