archeone 0.1.0__tar.gz

archeone-0.1.0/LICENSE

@@ -0,0 +1,202 @@
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archeone-0.1.0/NOTICE

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+archeone
+Copyright 2026 DylanUnicorn
+
+The synchronous request lifecycle, observation-window algorithm, action pacing,
+seam smoothing, and parts of the transport/error semantics are derived from the
+Dream Labs client (Apache License 2.0, Copyright 2026 Dream Labs).
+
+The optional IK implementation vendors Dream's dream_ik solver and assets.
+The jaxls and pyroki packages are MIT-licensed work by Brent Yi and Chung Min
+Kim respectively. Their license texts are in licenses/.
+
+See licenses/dreamlabs-NOTICE for the upstream third-party attribution list.
+

archeone-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: archeone
+Version: 0.1.0
+Summary: Synchronous client for ArcheOneBrain embodied inference, with observation windows and optional PiPER IK
+Author: DylanUnicorn
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/DylanUnicorn/archeone
+Project-URL: Repository, https://github.com/DylanUnicorn/archeone
+Project-URL: Issues, https://github.com/DylanUnicorn/archeone/issues
+Keywords: robotics,embodied-ai,vla,policy,piper,archeone
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+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
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: licenses/dreamlabs-LICENSE
+License-File: licenses/dreamlabs-NOTICE
+License-File: licenses/jaxls-LICENSE
+License-File: licenses/pyroki-LICENSE
+Requires-Dist: numpy>=1.24
+Requires-Dist: Pillow>=10
+Provides-Extra: dev
+Requires-Dist: pytest>=8; extra == "dev"
+Requires-Dist: build>=1.2; extra == "dev"
+Requires-Dist: twine>=5; extra == "dev"
+Provides-Extra: ik
+Requires-Dist: einops>=0.7; extra == "ik"
+Requires-Dist: jax==0.7.1; extra == "ik"
+Requires-Dist: jax-dataclasses==1.6.3; extra == "ik"
+Requires-Dist: jaxlib==0.7.1; extra == "ik"
+Requires-Dist: jaxlie==1.5.0; extra == "ik"
+Requires-Dist: jaxtyping; extra == "ik"
+Requires-Dist: loguru; extra == "ik"
+Requires-Dist: pydantic>=2; extra == "ik"
+Requires-Dist: scipy>=1.11; extra == "ik"
+Requires-Dist: termcolor; extra == "ik"
+Requires-Dist: typing-extensions>=4.5.0; extra == "ik"
+Requires-Dist: yourdfpy==0.0.60; extra == "ik"
+Dynamic: license-file
+
+# archeone
+
+`archeone` is a synchronous Python client for **ArcheOneBrain**, an embodied
+inference service reached over the `/v1/get_action` protocol. It keeps the
+observation-window, session, error-envelope, action-pacing, seam-smoothing and
+optional IK behavior that protocol defines, and raises its errors under `AR-*`
+names.
+
+Two models are served:
+
+| Model | Use |
+| --- | --- |
+| `archeone/archeone-brain-1.0` | the full model |
+| `archeone/archeone-brain-1.0-flash` | the lower-latency model |
+
+Request them by these names. The service maps them onto its own checkpoints
+internally; the upstream checkpoint ids are not part of the public surface.
+
+The SDK core is hardware-free. Hardware integrations live under `examples/`.
+
+**New here? Read [docs/quickstart.md](docs/quickstart.md).** It walks from
+creating your first token through installing the SDK to a real PiPER grasp,
+with a verification step after each stage.
+
+## Install
+
+```bash
+pip install archeone
+```
+
+That installs the client only, with `numpy` and `Pillow`. For the optional
+PiPER inverse kinematics, which pulls JAX and the vendored solver:
+
+```bash
+pip install "archeone[ik]"
+```
+
+For development:
+
+```bash
+python -m pip install -e ".[ik,dev]"
+```
+
+## Synchronous inference
+
+`ArcheoneClient` accepts one latest state plus one JPEG frame per camera on
+every camera tick. It keeps an internal 9-frame, 5 fps window per camera and
+sends frames oldest-to-newest.
+
+```python
+import time
+from archeone import ArcheoneClient
+
+client = ArcheoneClient(
+    api_key="sk-...",
+    base_url="https://gateway.example",
+    checkpoint="archeone/archeone-brain-1.0",
+)
+
+client.set_observation(
+    frames={
+        "video.overhead": overhead_jpeg,
+        "video.wrist_l": left_jpeg,
+        "video.wrist_r": right_jpeg,
+    },
+    observation={
+        "state.right_arm": right_joints,
+        "state.right_gripper": [right_gripper],
+        "state.left_arm": left_joints,
+        "state.left_gripper": [left_gripper],
+        "state.right_eef_xyz": right_xyz,
+        "state.right_eef_rot6": right_rot6,
+        "state.right_grip": [right_grip],
+        "state.left_eef_xyz": left_xyz,
+        "state.left_eef_rot6": left_rot6,
+        "state.left_grip": [left_grip],
+        "prompt": "Grab the bottle",
+    },
+    timestamp=time.monotonic(),
+)
+
+chunk = client.get_action()
+```
+
+The gateway's `status.code` decides success. HTTP 200 alone is not success.
+`AR-2000 POOL_WARMING` is surfaced as `CapacityError`; keep the same
+`episode_key` and retry per `retry_after_s`. A cold pool can take tens of
+minutes to come up; do not open new sessions while it warms.
+
+## Hardware validation
+
+`examples/piper_two_arm_demo.py` is the operator-facing PiPER integration. It
+refuses to run without `--execute`, uses the existing station control driver's
+fresh-feedback, motor-ready, and joint-limit gates, and never enables, homes,
+zeros, or disables the motors. It validates every returned chunk against the
+URDF limits before sending it, and streams the chunk at 250 Hz from the measured
+pose.
+
+The SDK itself has been exercised against the real gateway with three RealSense
+streams and both hands' FK-derived EEF fields; a real arm execution requires the
+arm to be inside the station's URDF joint envelope and an operator present.
+
+### Station notes
+
+These came out of bringing the left arm up on the real station; each one
+silently ruins a run if it is wrong.
+
+**Tool frame.** The checkpoint was trained with the station's calibrated PiPER
+tool, `approach = +z` and `jaw = +y` in the flange frame, which is a frame
+rotated 90 degrees about the flange z from the flange's own axes. Sending EEFs
+in the flange frame instead makes the model's wrist pose off by a right angle,
+and the arm answers by twisting its last wrist joint rather than approaching.
+`archeone/ik/dream_ik/specs.py` carries that rotation; it reproduces the
+station's own recorded replies to within 3.4 degrees.
+
+**Start where the arm actually is.** The reply is anchored on the pose the
+request carried. If the arm is parked somewhere with no line of sight to the
+object, the model answers with targets around that pose and nothing moves
+toward the goal. The demo therefore does not drive to a nominal rest unless
+`--ready` is passed. An operator can teleoperate the arm into a sensible
+pre-grasp pose, and the first inference starts from there.
+
+**Elbow margin matters more than distance.** PiPER's `J3` sits close to its
+upper bound at the nominal rest (`-0.101` of `[-2.932, -0.035]`). From there the
+arm cannot extend down to a tabletop object, and the solve reports a large
+residual no distance clipping can fix. A pre-grasp pose with `J2` around 1.7 and
+`J3` around -0.78 leaves room on every axis and reaches the table.
+
+**Slow links.** A synchronous round trip of several seconds is worth dozens of
+20 Hz rows. The client drops the rows the round trip already spent but keeps at
+least a second of live plan, and clips each target to a reachable step from the
+commanded pose, so a distant model target becomes a sequence of waypoints
+instead of a rejected chunk.
+
+

archeone-0.1.0/README.md

@@ -0,0 +1,135 @@
+# archeone
+
+`archeone` is a synchronous Python client for **ArcheOneBrain**, an embodied
+inference service reached over the `/v1/get_action` protocol. It keeps the
+observation-window, session, error-envelope, action-pacing, seam-smoothing and
+optional IK behavior that protocol defines, and raises its errors under `AR-*`
+names.
+
+Two models are served:
+
+| Model | Use |
+| --- | --- |
+| `archeone/archeone-brain-1.0` | the full model |
+| `archeone/archeone-brain-1.0-flash` | the lower-latency model |
+
+Request them by these names. The service maps them onto its own checkpoints
+internally; the upstream checkpoint ids are not part of the public surface.
+
+The SDK core is hardware-free. Hardware integrations live under `examples/`.
+
+**New here? Read [docs/quickstart.md](docs/quickstart.md).** It walks from
+creating your first token through installing the SDK to a real PiPER grasp,
+with a verification step after each stage.
+
+## Install
+
+```bash
+pip install archeone
+```
+
+That installs the client only, with `numpy` and `Pillow`. For the optional
+PiPER inverse kinematics, which pulls JAX and the vendored solver:
+
+```bash
+pip install "archeone[ik]"
+```
+
+For development:
+
+```bash
+python -m pip install -e ".[ik,dev]"
+```
+
+## Synchronous inference
+
+`ArcheoneClient` accepts one latest state plus one JPEG frame per camera on
+every camera tick. It keeps an internal 9-frame, 5 fps window per camera and
+sends frames oldest-to-newest.
+
+```python
+import time
+from archeone import ArcheoneClient
+
+client = ArcheoneClient(
+    api_key="sk-...",
+    base_url="https://gateway.example",
+    checkpoint="archeone/archeone-brain-1.0",
+)
+
+client.set_observation(
+    frames={
+        "video.overhead": overhead_jpeg,
+        "video.wrist_l": left_jpeg,
+        "video.wrist_r": right_jpeg,
+    },
+    observation={
+        "state.right_arm": right_joints,
+        "state.right_gripper": [right_gripper],
+        "state.left_arm": left_joints,
+        "state.left_gripper": [left_gripper],
+        "state.right_eef_xyz": right_xyz,
+        "state.right_eef_rot6": right_rot6,
+        "state.right_grip": [right_grip],
+        "state.left_eef_xyz": left_xyz,
+        "state.left_eef_rot6": left_rot6,
+        "state.left_grip": [left_grip],
+        "prompt": "Grab the bottle",
+    },
+    timestamp=time.monotonic(),
+)
+
+chunk = client.get_action()
+```
+
+The gateway's `status.code` decides success. HTTP 200 alone is not success.
+`AR-2000 POOL_WARMING` is surfaced as `CapacityError`; keep the same
+`episode_key` and retry per `retry_after_s`. A cold pool can take tens of
+minutes to come up; do not open new sessions while it warms.
+
+## Hardware validation
+
+`examples/piper_two_arm_demo.py` is the operator-facing PiPER integration. It
+refuses to run without `--execute`, uses the existing station control driver's
+fresh-feedback, motor-ready, and joint-limit gates, and never enables, homes,
+zeros, or disables the motors. It validates every returned chunk against the
+URDF limits before sending it, and streams the chunk at 250 Hz from the measured
+pose.
+
+The SDK itself has been exercised against the real gateway with three RealSense
+streams and both hands' FK-derived EEF fields; a real arm execution requires the
+arm to be inside the station's URDF joint envelope and an operator present.
+
+### Station notes
+
+These came out of bringing the left arm up on the real station; each one
+silently ruins a run if it is wrong.
+
+**Tool frame.** The checkpoint was trained with the station's calibrated PiPER
+tool, `approach = +z` and `jaw = +y` in the flange frame, which is a frame
+rotated 90 degrees about the flange z from the flange's own axes. Sending EEFs
+in the flange frame instead makes the model's wrist pose off by a right angle,
+and the arm answers by twisting its last wrist joint rather than approaching.
+`archeone/ik/dream_ik/specs.py` carries that rotation; it reproduces the
+station's own recorded replies to within 3.4 degrees.
+
+**Start where the arm actually is.** The reply is anchored on the pose the
+request carried. If the arm is parked somewhere with no line of sight to the
+object, the model answers with targets around that pose and nothing moves
+toward the goal. The demo therefore does not drive to a nominal rest unless
+`--ready` is passed. An operator can teleoperate the arm into a sensible
+pre-grasp pose, and the first inference starts from there.
+
+**Elbow margin matters more than distance.** PiPER's `J3` sits close to its
+upper bound at the nominal rest (`-0.101` of `[-2.932, -0.035]`). From there the
+arm cannot extend down to a tabletop object, and the solve reports a large
+residual no distance clipping can fix. A pre-grasp pose with `J2` around 1.7 and
+`J3` around -0.78 leaves room on every axis and reaches the table.
+
+**Slow links.** A synchronous round trip of several seconds is worth dozens of
+20 Hz rows. The client drops the rows the round trip already spent but keeps at
+least a second of live plan, and clips each target to a reachable step from the
+commanded pose, so a distant model target becomes a sequence of waypoints
+instead of a rejected chunk.
+
+

archeone-0.1.0/archeone/__init__.py

@@ -0,0 +1,44 @@
+"""Public API for archeone."""
+
+from .client import ArcheoneClient
+from .errors import (
+    ActionError,
+    ArcheoneError,
+    AuthError,
+    BadRequest,
+    CapacityError,
+    ConfigError,
+    ModelError,
+    ObservationError,
+    ProtocolError,
+    ServerError,
+    SessionReplaced,
+    Timeout,
+    TransportError,
+)
+from .pacing import SYNC, Pacer
+from .window import Window
+
+__version__ = "0.1.0"
+
+__all__ = [
+    "ActionError",
+    "ArcheoneClient",
+    "ArcheoneError",
+    "AuthError",
+    "BadRequest",
+    "CapacityError",
+    "ConfigError",
+    "ModelError",
+    "ObservationError",
+    "Pacer",
+    "ProtocolError",
+    "SYNC",
+    "ServerError",
+    "SessionReplaced",
+    "Timeout",
+    "TransportError",
+    "Window",
+    "__version__",
+]
+

archeone-0.1.0/archeone/_vendor/__init__.py

@@ -0,0 +1,12 @@
+"""Vendored IK dependencies (jaxls, pyroki), kept under their original licenses."""
+
+import sys
+
+# pyroki and dream-style solvers import these by their upstream names. Bind the
+# vendored copies before any installed top-level package can shadow them.
+from . import jaxls, pyroki
+
+sys.modules.setdefault("jaxls", jaxls)
+sys.modules.setdefault("pyroki", pyroki)
+
+__all__ = ["jaxls", "pyroki"]

archeone-0.1.0/archeone/_vendor/jaxls/LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2025 Brent Yi
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.