dropbear 0.1.0a1__tar.gz

dropbear-0.1.0a1/.gitignore

@@ -0,0 +1,71 @@
+# macOS
+.DS_Store
+
+# Python
+__pycache__/
+*.py[cod]
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
+.coverage
+htmlcov/
+
+# Local caches (e.g. lerobot dataset + smoke-test artifacts)
+.cache/
+
+# Virtual environments
+.venv/
+venv/
+
+# Build and packaging output
+build/
+dist/
+*.egg-info/
+
+# Local environment files
+.env
+.env.*
+!.env.example
+
+# Logs
+*.log
+
+# Experiment note assets and generated analysis payloads
+sandbox/experiments/*/notes/assets/
+
+# Local scratch/checkouts
+tmp/
+.worktrees/
+.codex/*
+!.codex/skills/
+!.codex/skills/**
+
+# Root cleanup holding area for generated/non-product artifacts moved out of
+# the repository root.
+sandbox/.root-artifacts/
+
+# Phase 0 traces and generated infra state (now under sandbox/)
+sandbox/traces/*.jsonl
+sandbox/traces/*.csv
+sandbox/traces/*.parquet
+sandbox/traces/mtr/
+sandbox/experiments/*/runs/**/mtr-*.txt
+sandbox/experiments/*/runs/**/qlog/
+sandbox/infra/terraform/.terraform/
+# .terraform.lock.hcl is intentionally committed so the whole team pins identical
+# provider versions. State now lives in S3 (see sandbox/infra/terraform/backend.tf);
+# the local tfstate files below are stale artifacts and stay ignored.
+sandbox/infra/terraform/terraform.tfstate
+sandbox/infra/terraform/terraform.tfstate.backup
+sandbox/infra/terraform/tfplan
+sandbox/infra/certs/
+
+# Local model checkpoints
+sandbox/policies/flash/molmoact2-so101/MolmoAct2-SO100_101/
+.gstack/
+
+# Cold-start benchmark run outputs (raw per-iteration meta/ssm dumps + combined.json).
+# Commit a baseline report.md by hand if you want to keep it; runs/ is ephemeral.
+mvp/benchmarks/runs/
+mvp/e2e/runs/
+sandbox/benchmarks/runs/

dropbear-0.1.0a1/LICENSE

@@ -0,0 +1,176 @@
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dropbear-0.1.0a1/PKG-INFO

@@ -0,0 +1,223 @@
+Metadata-Version: 2.4
+Name: dropbear
+Version: 0.1.0a1
+Summary: Cloud robot policy inference — one function call.
+Project-URL: Homepage, https://dropbear.dreamscalelabs.com
+Project-URL: Documentation, https://dropbear.dreamscalelabs.com/docs
+Author: Dreamscale Labs
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: inference,physical-ai,robotics,vla
+Classifier: Development Status :: 2 - Pre-Alpha
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.12
+Requires-Python: <3.13,>=3.12
+Requires-Dist: dropbear-transport==0.1.1a1
+Requires-Dist: httpx<1,>=0.27
+Requires-Dist: numpy<2.3,>=2.0
+Requires-Dist: pillow<12,>=10
+Requires-Dist: rich<14,>=13.9
+Requires-Dist: tomli-w<2,>=1.0
+Requires-Dist: typer<1,>=0.12
+Provides-Extra: sim
+Requires-Dist: bddl==1.0.1; extra == 'sim'
+Requires-Dist: easydict<2,>=1.13; extra == 'sim'
+Requires-Dist: future<2,>=1; extra == 'sim'
+Requires-Dist: imageio<3,>=2.36; extra == 'sim'
+Requires-Dist: matplotlib<4,>=3.9; extra == 'sim'
+Requires-Dist: mujoco<4,>=3.2; extra == 'sim'
+Requires-Dist: opencv-python<5,>=4.10; extra == 'sim'
+Requires-Dist: pyyaml<7,>=6; extra == 'sim'
+Requires-Dist: robosuite==1.4.1; extra == 'sim'
+Provides-Extra: so101
+Requires-Dist: lerobot[feetech]==0.5.1; extra == 'so101'
+Description-Content-Type: text/markdown
+
+# Dropbear
+
+Cloud robot policy inference — one function call.
+
+> `0.1.0a1` is a pre-alpha release. Pin the exact version while the public API
+> is still evolving.
+
+## Install
+
+Add Dropbear to a Python 3.12 project:
+
+```bash
+uv add "dropbear==0.1.0a1"
+```
+
+Install the CLI as a standalone tool:
+
+```bash
+uv tool install "dropbear==0.1.0a1"
+dropbear login
+```
+
+The base package contains cloud inference, transport, model contracts, and
+robot-neutral observation helpers. Install a hardware or simulator stack only
+when you need it:
+
+```bash
+uv add "dropbear[so101]==0.1.0a1"
+uv add "dropbear[sim]==0.1.0a1"
+```
+
+The `sim` extra is currently Linux/WSL2 only because of upstream
+LIBERO/robosuite limitations.
+
+## Cloud policy inference
+
+```python
+import dropbear
+
+policy = dropbear.connect()  # defaults to molmoact2-so101
+policy.run(
+    instruction="pick up the cube",
+    observe=observe,
+    act=act,
+    max_actions=300,
+)
+```
+
+`dropbear.connect()` is the canonical SDK entrypoint.
+`connect_so101()` is a deprecated compatibility path for the legacy physical
+SO-101 safety loop and will be removed after that behavior is folded into the
+generic policy surface. New cloud-policy work should use `dropbear.connect()`.
+There is no first-class public `connect_libero()` or `connect_franka()`
+entrypoint; use `dropbear.connect(model="molmoact2-libero")` or select another
+checkpoint with `model=`.
+
+Use a context manager so every cloud session closes deterministically:
+
+```python
+import dropbear
+
+with dropbear.connect(model="molmoact2-libero") as policy:
+    result = policy.run(
+        instruction="put the mug on the plate",
+        observe=observe,
+        act=act,
+        max_actions=220,
+        strategy=dropbear.RunStrategy.libero_default(),
+    )
+```
+
+`region="nearest"` is the default. `region="available"` may fall back to
+another supported region when the nearest region has no capacity. Passing an
+AWS region pins the session there.
+
+`transport="auto"` tries QUIC first and can use the hosted relay;
+`transport="quic"` requires QUIC, and `transport="relay"` uses the relay
+directly.
+
+## MolmoAct2-DROID on Franka
+
+MolmoAct2-DROID consumes an exterior RGB view and wrist RGB view. A second
+exterior view is optional; when omitted, Dropbear reuses the first exterior
+frame for the checkpoint's second exterior slot.
+
+Robot state is seven Franka joint positions in radians followed by a gripper
+value in `[0, 1]`.
+
+```python
+import numpy as np
+import dropbear
+
+exterior_rgb = np.zeros((480, 640, 3), dtype=np.uint8)
+wrist_rgb = np.zeros((480, 640, 3), dtype=np.uint8)
+
+observation = dropbear.franka.observe(
+    exterior_frame=exterior_rgb,
+    wrist_frame=wrist_rgb,
+    joint_positions=[0.0] * 7,
+    gripper=0.5,  # 0=open, 1=closed
+)
+
+with dropbear.connect(model="molmoact2-droid") as policy:
+    result = policy.predict(
+        observation,
+        instruction="pick up the green block",
+    )
+
+assert len(result.actions) == 15
+assert all(len(action) == 8 for action in result.actions)
+```
+
+The checkpoint returns a 15-step chunk at 15 Hz. Each action is an absolute
+target `[joint_0, ..., joint_6, gripper]`; joints are radians and the gripper is
+in `[0, 1]`.
+
+`predict()` does not actuate hardware or provide a Franka safety controller.
+Validate joint, velocity, acceleration, workspace, collision, and gripper
+limits before sending any target to a robot.
+
+## Manual action loop
+
+For a caller-owned control loop, pass the task instruction to
+`policy.next_action(...)`. Dropbear owns inference, refill, action buffering,
+calibration, and RTC prefix context; the caller owns sensing, actuation, and
+loop cadence.
+
+```python
+import time
+
+dt = 1.0 / policy.action_hz
+while running:
+    tick = time.perf_counter()
+    action = policy.next_action(
+        observe(),
+        instruction="put the mug on the plate",
+    )
+    robot.execute(action)
+    time.sleep(max(0.0, dt - (time.perf_counter() - tick)))
+```
+
+## CLI
+
+Sign in once. Credentials are stored in `~/.dropbear/config.toml`.
+
+```bash
+dropbear login
+dropbear status
+```
+
+For non-interactive setup, pass an API key or use bare `--api-key` to paste it
+into a hidden prompt:
+
+```bash
+dropbear login --api-key dropbear_sk_...
+dropbear login --api-key
+```
+
+Run robot-neutral setup checks:
+
+```bash
+dropbear doctor
+```
+
+SO-101 and simulation checks are explicit:
+
+```bash
+dropbear doctor so101
+dropbear doctor sim
+```
+
+Install shell completion with:
+
+```bash
+dropbear --install-completion
+```
+
+Useful session commands:
+
+```bash
+dropbear sessions list
+dropbear sessions stop <session-id>
+dropbear sessions stop --all
+```
+
+Documentation: https://dropbear.dreamscalelabs.com/docs

dropbear-0.1.0a1/README.md

@@ -0,0 +1,186 @@
+# Dropbear
+
+Cloud robot policy inference — one function call.
+
+> `0.1.0a1` is a pre-alpha release. Pin the exact version while the public API
+> is still evolving.
+
+## Install
+
+Add Dropbear to a Python 3.12 project:
+
+```bash
+uv add "dropbear==0.1.0a1"
+```
+
+Install the CLI as a standalone tool:
+
+```bash
+uv tool install "dropbear==0.1.0a1"
+dropbear login
+```
+
+The base package contains cloud inference, transport, model contracts, and
+robot-neutral observation helpers. Install a hardware or simulator stack only
+when you need it:
+
+```bash
+uv add "dropbear[so101]==0.1.0a1"
+uv add "dropbear[sim]==0.1.0a1"
+```
+
+The `sim` extra is currently Linux/WSL2 only because of upstream
+LIBERO/robosuite limitations.
+
+## Cloud policy inference
+
+```python
+import dropbear
+
+policy = dropbear.connect()  # defaults to molmoact2-so101
+policy.run(
+    instruction="pick up the cube",
+    observe=observe,
+    act=act,
+    max_actions=300,
+)
+```
+
+`dropbear.connect()` is the canonical SDK entrypoint.
+`connect_so101()` is a deprecated compatibility path for the legacy physical
+SO-101 safety loop and will be removed after that behavior is folded into the
+generic policy surface. New cloud-policy work should use `dropbear.connect()`.
+There is no first-class public `connect_libero()` or `connect_franka()`
+entrypoint; use `dropbear.connect(model="molmoact2-libero")` or select another
+checkpoint with `model=`.
+
+Use a context manager so every cloud session closes deterministically:
+
+```python
+import dropbear
+
+with dropbear.connect(model="molmoact2-libero") as policy:
+    result = policy.run(
+        instruction="put the mug on the plate",
+        observe=observe,
+        act=act,
+        max_actions=220,
+        strategy=dropbear.RunStrategy.libero_default(),
+    )
+```
+
+`region="nearest"` is the default. `region="available"` may fall back to
+another supported region when the nearest region has no capacity. Passing an
+AWS region pins the session there.
+
+`transport="auto"` tries QUIC first and can use the hosted relay;
+`transport="quic"` requires QUIC, and `transport="relay"` uses the relay
+directly.
+
+## MolmoAct2-DROID on Franka
+
+MolmoAct2-DROID consumes an exterior RGB view and wrist RGB view. A second
+exterior view is optional; when omitted, Dropbear reuses the first exterior
+frame for the checkpoint's second exterior slot.
+
+Robot state is seven Franka joint positions in radians followed by a gripper
+value in `[0, 1]`.
+
+```python
+import numpy as np
+import dropbear
+
+exterior_rgb = np.zeros((480, 640, 3), dtype=np.uint8)
+wrist_rgb = np.zeros((480, 640, 3), dtype=np.uint8)
+
+observation = dropbear.franka.observe(
+    exterior_frame=exterior_rgb,
+    wrist_frame=wrist_rgb,
+    joint_positions=[0.0] * 7,
+    gripper=0.5,  # 0=open, 1=closed
+)
+
+with dropbear.connect(model="molmoact2-droid") as policy:
+    result = policy.predict(
+        observation,
+        instruction="pick up the green block",
+    )
+
+assert len(result.actions) == 15
+assert all(len(action) == 8 for action in result.actions)
+```
+
+The checkpoint returns a 15-step chunk at 15 Hz. Each action is an absolute
+target `[joint_0, ..., joint_6, gripper]`; joints are radians and the gripper is
+in `[0, 1]`.
+
+`predict()` does not actuate hardware or provide a Franka safety controller.
+Validate joint, velocity, acceleration, workspace, collision, and gripper
+limits before sending any target to a robot.
+
+## Manual action loop
+
+For a caller-owned control loop, pass the task instruction to
+`policy.next_action(...)`. Dropbear owns inference, refill, action buffering,
+calibration, and RTC prefix context; the caller owns sensing, actuation, and
+loop cadence.
+
+```python
+import time
+
+dt = 1.0 / policy.action_hz
+while running:
+    tick = time.perf_counter()
+    action = policy.next_action(
+        observe(),
+        instruction="put the mug on the plate",
+    )
+    robot.execute(action)
+    time.sleep(max(0.0, dt - (time.perf_counter() - tick)))
+```
+
+## CLI
+
+Sign in once. Credentials are stored in `~/.dropbear/config.toml`.
+
+```bash
+dropbear login
+dropbear status
+```
+
+For non-interactive setup, pass an API key or use bare `--api-key` to paste it
+into a hidden prompt:
+
+```bash
+dropbear login --api-key dropbear_sk_...
+dropbear login --api-key
+```
+
+Run robot-neutral setup checks:
+
+```bash
+dropbear doctor
+```
+
+SO-101 and simulation checks are explicit:
+
+```bash
+dropbear doctor so101
+dropbear doctor sim
+```
+
+Install shell completion with:
+
+```bash
+dropbear --install-completion
+```
+
+Useful session commands:
+
+```bash
+dropbear sessions list
+dropbear sessions stop <session-id>
+dropbear sessions stop --all
+```
+
+Documentation: https://dropbear.dreamscalelabs.com/docs

dropbear-0.1.0a1/dropbear/__init__.py

@@ -0,0 +1,41 @@
+"""Dropbear - fast serverless inference for your robots."""
+
+from __future__ import annotations
+
+from importlib.metadata import PackageNotFoundError, version
+from typing import TYPE_CHECKING
+
+try:
+    __version__ = version("dropbear")
+except PackageNotFoundError:  # Direct source import outside an installed environment.
+    __version__ = "0+unknown"
+
+from dropbear import franka, libero, so101
+from dropbear.policy import RegionPreference, RunHooks, RunStrategy, aconnect, connect
+
+if TYPE_CHECKING:
+    from dropbear.arm import Arm
+
+
+def connect_so101(*, region: RegionPreference = "nearest") -> Arm:
+    """Connect to the legacy physical SO-101 control path.
+
+    Prefer dropbear.connect(model="molmoact2-so101", ...) for new cloud-policy work.
+    """
+    from dropbear.arm import connect_so101 as _connect
+
+    return _connect(region=region)
+
+
+__all__ = [
+    "RunHooks",
+    "RunStrategy",
+    "RegionPreference",
+    "aconnect",
+    "connect",
+    "connect_so101",
+    "franka",
+    "libero",
+    "so101",
+    "__version__",
+]