armnet-runtime 0.1.0__tar.gz

armnet_runtime-0.1.0/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
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+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
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+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
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+#Pipfile.lock
+
+# poetry
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+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
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+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
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+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+armnet/site/
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
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+
+# pytype static type analyzer
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+# Cython debug symbols
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+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
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+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+.vscode
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+.cursor/debug.log
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+
+# robot data and assets
+data/
+datadump
+checkpoints_act
+wandb
+
+
+# model checkpoints
+
+# ROS and real robots
+logfile.asc
+armnet/robot_cell.json
+
+# cpp
+devel
+
+Log/
+annotations
+unsloth_compiled_cache/
+node_modules
+
+# Terraform
+.terraform/
+.terraform.lock.hcl
+terraform.tfstate
+terraform.tfstate.backup
+
+# experimental
+experimental/*/images/*.png
+*.p12
+build_log.txt
+outputs
+**/.gradio/
+
+# outputs
+**/*.mp4
+**/*.parquet
+activation_cache/
+sae_checkpoints/
+sae_dataset_on_the_fly/
+safety_violation_analysis/
+**/feature_analysis_results/
+datasets/
+
+missiontracker/examples/models/*openpi*
+missiontracker/examples/models/fiper_models
+pilot_checkpoints
+checkpoints/
+assets/*pi0*
+# Apptainer/Singularity images (built locally, multi-GB)
+*.sif
+
+# Git worktrees
+.worktrees/

armnet_runtime-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: armnet-runtime
+Version: 0.1.0
+Summary: armnet runtime SDK — used by code running inside customer containers on a cell.
+Project-URL: Homepage, https://armnet.dev
+Project-URL: Documentation, https://safe-robotics.github.io/alpha-robotics/packages/runtime/
+Author: Ville Kuosmanen
+License: Apache-2.0
+Requires-Python: <3.13,>=3.12
+Requires-Dist: armnet-core>=0.1.0
+Requires-Dist: protobuf<7,>=5
+Requires-Dist: pydantic<3,>=2.6
+Provides-Extra: dev
+Requires-Dist: pytest>=8; extra == 'dev'
+Description-Content-Type: text/markdown
+
+# armnet-runtime
+
+The runtime SDK for the [Armnet](https://armnet.dev) managed arm farm — the
+package you install **inside your container image**. It provides the `@main`
+decorator, the `Context` your function receives, and the `armnet-runtime`
+console script the container runs. It has a deliberately tiny dependency
+footprint so it's cheap to bake into every image.
+
+```python
+from armnet_runtime import Context, main
+
+@main
+def run(ctx: Context) -> dict:
+    ctx.report_progress("starting")
+    obs = ctx.cell.get_observation()
+    ...
+    return {"ok": True}
+```
+
+Container `CMD`:
+
+```dockerfile
+CMD ["armnet-runtime", "/app/main.py"]
+```
+
+Code that submits jobs from a dev machine or CI uses
+[`armnet-client`](https://pypi.org/project/armnet-client/) instead.
+
+## Install
+
+```bash
+pip install armnet-runtime
+```
+
+## Documentation
+
+Full guides and API reference: **<https://safe-robotics.github.io/alpha-robotics/packages/runtime/>**

armnet_runtime-0.1.0/README.md

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+# armnet-runtime
+
+The runtime SDK for the [Armnet](https://armnet.dev) managed arm farm — the
+package you install **inside your container image**. It provides the `@main`
+decorator, the `Context` your function receives, and the `armnet-runtime`
+console script the container runs. It has a deliberately tiny dependency
+footprint so it's cheap to bake into every image.
+
+```python
+from armnet_runtime import Context, main
+
+@main
+def run(ctx: Context) -> dict:
+    ctx.report_progress("starting")
+    obs = ctx.cell.get_observation()
+    ...
+    return {"ok": True}
+```
+
+Container `CMD`:
+
+```dockerfile
+CMD ["armnet-runtime", "/app/main.py"]
+```
+
+Code that submits jobs from a dev machine or CI uses
+[`armnet-client`](https://pypi.org/project/armnet-client/) instead.
+
+## Install
+
+```bash
+pip install armnet-runtime
+```
+
+## Documentation
+
+Full guides and API reference: **<https://safe-robotics.github.io/alpha-robotics/packages/runtime/>**

armnet_runtime-0.1.0/proto/rerun.proto

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+syntax = "proto3";
+
+// Wire format for streaming Rerun visualization data off a robot cell.
+//
+// A customer's @main code calls `ctx.log_rerun_data(...)` inside the cell
+// container. That serializes a RerunPacket, which the cell publishes on the
+// NATS subject `logs.<job_id>.rerun`. The orchestrator forwards packets over a
+// websocket to the client's orchestrate script, which decodes them and replays
+// each entry via `rr.log(...)` into the viewer started with `rr.init(...)`.
+//
+// Protobuf is used because these packets carry (lightly compressed) images at
+// high frequency and protos encode compactly to bytes. Regenerate the Python
+// bindings with runtime/scripts/gen_proto.sh after editing this file.
+
+package remoterobo.rerun;
+
+enum ImageEncoding {
+  IMAGE_ENCODING_UNSPECIFIED = 0;
+  // JPEG-encoded bytes (lossy, small). Decoded client-side via rr.EncodedImage.
+  IMAGE_ENCODING_JPEG = 1;
+  // Raw uint8 pixels in HWC order (lossless, larger). Decoded into an ndarray.
+  IMAGE_ENCODING_RAW_RGB = 2;
+}
+
+message Image {
+  bytes data = 1;
+  ImageEncoding encoding = 2;
+  uint32 width = 3;
+  uint32 height = 4;
+  uint32 channels = 5;
+}
+
+// One Rerun log call: an entity path plus a typed value.
+message RerunEntry {
+  // Rerun entity path, e.g. "observation.images.cam_high" or "action.shoulder_pan".
+  string entity_path = 1;
+  oneof value {
+    double scalar = 2;
+    Image image = 3;
+  }
+}
+
+// A batch of entries logged at one logical timestep.
+message RerunPacket {
+  string job_id = 1;
+  // Unix time in seconds when the packet was produced (used for ordering /
+  // debugging; the client logs in receive order). Kept equal to `obs_ts` for
+  // backward compatibility.
+  double timestamp = 2;
+  repeated RerunEntry entries = 3;
+
+  // Latency instrumentation (unix seconds, set in the cell container):
+  //  - obs_ts:    when the observation was handed to the streamer (production).
+  //  - submit_ts: when the packet was serialized and emitted to stdout, i.e.
+  //               after any queue wait + image encoding.
+  // The client compares these against its own clock at replay time to attribute
+  // latency to the runtime (obs_ts -> submit_ts, same clock) vs. the transport
+  // (submit_ts -> replay, crosses machines so it includes any clock skew).
+  double obs_ts = 4;
+  double submit_ts = 5;
+}

armnet_runtime-0.1.0/pyproject.toml

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+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+
+[project]
+name = "armnet-runtime"
+version = "0.1.0"
+description = "armnet runtime SDK \u2014 used by code running inside customer containers on a cell."
+readme = "README.md"
+requires-python = ">=3.12,<3.13"
+license = { text = "Apache-2.0" }
+authors = [{ name = "Ville Kuosmanen" }]
+
+dependencies = [
+    "armnet-core>=0.1.0",
+    "pydantic>=2.6,<3",
+    # Wire format for Rerun visualization packets (armnet_runtime.rerun).
+    "protobuf>=5,<7",
+]
+
+[project.urls]
+Homepage = "https://armnet.dev"
+Documentation = "https://safe-robotics.github.io/alpha-robotics/packages/runtime/"
+
+[project.optional-dependencies]
+dev = [
+    "pytest>=8",
+]
+
+[project.scripts]
+armnet-runtime = "armnet_runtime.cli:run"
+
+[tool.uv.sources]
+armnet-core = { workspace = true }
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/armnet_runtime"]

armnet_runtime-0.1.0/scripts/gen_proto.sh

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+#!/usr/bin/env bash
+# Regenerate the Rerun protobuf bindings.
+#
+# Requires `protoc` on PATH (e.g. `apt-get install protobuf-compiler` or
+# `brew install protobuf`). The generated module is checked in so that normal
+# installs do not need protoc.
+set -euo pipefail
+
+here="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+runtime_root="$(dirname "$here")"
+proto_dir="$runtime_root/proto"
+out_dir="$runtime_root/src/armnet_runtime"
+
+protoc \
+  --proto_path="$proto_dir" \
+  --python_out="$out_dir" \
+  "$proto_dir/rerun.proto"
+
+# protoc emits `rerun_pb2.py`; we keep it as a private module.
+mv "$out_dir/rerun_pb2.py" "$out_dir/_rerun_pb2.py"
+
+echo "generated $out_dir/_rerun_pb2.py"

armnet_runtime-0.1.0/src/armnet_runtime/__init__.py

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+"""armnet runtime SDK \u2014 used inside customer containers on a cell.
+
+Customer-facing surface: a ``@main`` decorator and a :class:`Context`. The
+container's entrypoint is the ``armnet-runtime`` console script
+(installed by this package); it loads the user's file, finds the
+``@main``-decorated function, builds the context, and calls it.
+
+Typical use::
+
+    from armnet_runtime import main, Context
+
+    @main
+    def run(ctx: Context):
+        seed = ctx.args.get("seed", 0)
+        ctx.report_progress("starting")
+        ...
+        return {"success_rate": 1.0}
+
+Wire types (``Embodiment``, ``Task``, ``JobSpec``, ``JobResult``, ...) are
+re-exported from :mod:`armnet_core` for ergonomics, so customer code
+never needs to know about the core package directly.
+"""
+
+from armnet_core import (
+    Embodiment,
+    Job,
+    JobResult,
+    JobSpec,
+    JobStatus,
+    RemoteExecutionError,
+    Task,
+    TerminalStatus,
+)
+
+from armnet_runtime.context import (
+    BIMANUAL_SO101_EMBODIMENT,
+    SO101_EMBODIMENT,
+    Cell,
+    CompletionStatus,
+    Context,
+    ResetTimeoutException,
+    require_so101_embodiment,
+)
+from armnet_runtime.decorator import MainRegistrationError, main
+
+__all__ = [
+    "BIMANUAL_SO101_EMBODIMENT",
+    "SO101_EMBODIMENT",
+    "Cell",
+    "CompletionStatus",
+    "Context",
+    "require_so101_embodiment",
+    "Embodiment",
+    "Job",
+    "JobResult",
+    "JobSpec",
+    "JobStatus",
+    "MainRegistrationError",
+    "RemoteExecutionError",
+    "ResetTimeoutException",
+    "Task",
+    "TerminalStatus",
+    "main",
+]
+
+__version__ = "0.1.0"

armnet_runtime-0.1.0/src/armnet_runtime/_rerun_pb2.py

@@ -0,0 +1,32 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: rerun.proto
+# Protobuf Python Version: 5.26.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x0brerun.proto\x12\x10remoterobo.rerun\"y\n\x05Image\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x12\x31\n\x08\x65ncoding\x18\x02 \x01(\x0e\x32\x1f.remoterobo.rerun.ImageEncoding\x12\r\n\x05width\x18\x03 \x01(\r\x12\x0e\n\x06height\x18\x04 \x01(\r\x12\x10\n\x08\x63hannels\x18\x05 \x01(\r\"f\n\nRerunEntry\x12\x13\n\x0b\x65ntity_path\x18\x01 \x01(\t\x12\x10\n\x06scalar\x18\x02 \x01(\x01H\x00\x12(\n\x05image\x18\x03 \x01(\x0b\x32\x17.remoterobo.rerun.ImageH\x00\x42\x07\n\x05value\"\x82\x01\n\x0bRerunPacket\x12\x0e\n\x06job_id\x18\x01 \x01(\t\x12\x11\n\ttimestamp\x18\x02 \x01(\x01\x12-\n\x07\x65ntries\x18\x03 \x03(\x0b\x32\x1c.remoterobo.rerun.RerunEntry\x12\x0e\n\x06obs_ts\x18\x04 \x01(\x01\x12\x11\n\tsubmit_ts\x18\x05 \x01(\x01*d\n\rImageEncoding\x12\x1e\n\x1aIMAGE_ENCODING_UNSPECIFIED\x10\x00\x12\x17\n\x13IMAGE_ENCODING_JPEG\x10\x01\x12\x1a\n\x16IMAGE_ENCODING_RAW_RGB\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'rerun_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_IMAGEENCODING']._serialized_start=393
+  _globals['_IMAGEENCODING']._serialized_end=493
+  _globals['_IMAGE']._serialized_start=33
+  _globals['_IMAGE']._serialized_end=154
+  _globals['_RERUNENTRY']._serialized_start=156
+  _globals['_RERUNENTRY']._serialized_end=258
+  _globals['_RERUNPACKET']._serialized_start=261
+  _globals['_RERUNPACKET']._serialized_end=391
+# @@protoc_insertion_point(module_scope)