embodied-ops 0.2.0__tar.gz

embodied_ops-0.2.0/LICENSE

@@ -0,0 +1,176 @@
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embodied_ops-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: embodied-ops
+Version: 0.2.0
+Summary: Capability-oriented protocols for embodied systems
+Author: PengYue
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://github.com/pengyue-polaron/embodied-ops
+Project-URL: Repository, https://github.com/pengyue-polaron/embodied-ops
+Project-URL: Issues, https://github.com/pengyue-polaron/embodied-ops/issues
+Keywords: robotics,embodied-ai,sdk,protocol
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Classifier: Typing :: Typed
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Provides-Extra: grpc
+Requires-Dist: grpcio<2.0.0,>=1.82.0; extra == "grpc"
+Requires-Dist: protobuf<8.0.0,>=7.35.0; extra == "grpc"
+Dynamic: license-file
+
+# embodied-ops
+
+`embodied-ops` is a small Python contract for composing embodied systems without
+coupling applications to a particular robot framework or middleware. Its core remains
+dependency-free; the `grpc` extra adds a versioned local service boundary.
+
+It standardizes:
+
+- capability-oriented device manifests;
+- typed observation and action feature descriptions;
+- strict, non-clamping scalar validation;
+- lifecycle and health protocols;
+- backend discovery through the standard `embodied_ops.backends` entry-point group;
+- an optional Protobuf/gRPC transport over Unix-domain sockets.
+
+It intentionally does **not** own ROS nodes, robot drivers, teleoperation mappings,
+datasets, policy runtimes, process supervision, or safety limits. Those belong to
+installed backends and application runtimes.
+
+## Backend contract
+
+An integration publishes a factory in `pyproject.toml`:
+
+```toml
+[project.entry-points."embodied_ops.backends"]
+my_robot = "my_robot_runtime.backend:create_backend"
+```
+
+The factory accepts a plain mapping and returns an `OperationalDevice`. Constructing
+the device must not open hardware; callers explicitly invoke `connect()` or use
+`device_session()`.
+
+```python
+from embodied_ops import create_device
+
+robot = create_device("my_robot", {"config": "robot.toml"})
+robot.connect()
+try:
+    print(robot.manifest.to_dict())
+    print(robot.health())
+finally:
+    robot.disconnect()
+```
+
+Additional capabilities are expressed structurally through `ObservableDevice`,
+`CommandDevice`, `CalibratableDevice`, and `ResettableDevice`. Adapters such as
+LeRobot plugins translate these contracts into their framework-native interfaces.
+
+## RPC boundary
+
+Install the optional transport when an adapter and its hardware runtime must live in
+separate processes:
+
+```bash
+python -m pip install "embodied-ops[grpc]"
+```
+
+The runtime owns the real device and serves it; clients receive only the manifest and
+capability operations:
+
+```python
+from embodied_ops.rpc import DeviceRpcServer, RemoteDevice
+
+endpoint = "unix:///run/my-robot/device.sock"
+server = DeviceRpcServer(
+    device,
+    endpoint=endpoint,
+    lease_timeout_s=1.0,
+    command_timeout_s=0.5,
+)
+server.start()
+
+robot = RemoteDevice(endpoint=endpoint, client_name="my-adapter")
+robot.connect()
+```
+
+Protocol v1 provides describe, observe, command, health, calibration, and reset RPCs.
+It carries scalar features and dependency-free typed tensor payloads. Command sessions
+are exclusive and use opaque session ids, contiguous command sequence numbers,
+monotonic timestamps, server-owned leases, and an independent command-inactivity
+deadman. Heartbeats prove session liveness but do not keep an idle command lease alive.
+Observe-only sessions may coexist. Devices that implement `CommandLeaseDevice` can
+release their command resources while keeping read-only observation attached; other
+devices retain the conservative disconnect-on-command-close behavior. The hardware
+runtime remains responsible for its final fail-closed behavior.
+
+Only absolute `unix:///` endpoints are accepted in v1. TCP/TLS policy is intentionally
+not implied by the local protocol.
+
+## Versioning
+
+The Python package follows semantic versioning. `DeviceManifest.api_version` versions
+the capability contract independently. The wire handshake has its own
+`protocol_version`; both are currently version 1.
+
+## Development
+
+```bash
+uv sync --extra grpc --dev
+uv run pytest
+uv run ruff check .
+uv run ruff format --check .
+uv build
+```
+
+## License
+
+Apache-2.0

embodied_ops-0.2.0/README.md

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+# embodied-ops
+
+`embodied-ops` is a small Python contract for composing embodied systems without
+coupling applications to a particular robot framework or middleware. Its core remains
+dependency-free; the `grpc` extra adds a versioned local service boundary.
+
+It standardizes:
+
+- capability-oriented device manifests;
+- typed observation and action feature descriptions;
+- strict, non-clamping scalar validation;
+- lifecycle and health protocols;
+- backend discovery through the standard `embodied_ops.backends` entry-point group;
+- an optional Protobuf/gRPC transport over Unix-domain sockets.
+
+It intentionally does **not** own ROS nodes, robot drivers, teleoperation mappings,
+datasets, policy runtimes, process supervision, or safety limits. Those belong to
+installed backends and application runtimes.
+
+## Backend contract
+
+An integration publishes a factory in `pyproject.toml`:
+
+```toml
+[project.entry-points."embodied_ops.backends"]
+my_robot = "my_robot_runtime.backend:create_backend"
+```
+
+The factory accepts a plain mapping and returns an `OperationalDevice`. Constructing
+the device must not open hardware; callers explicitly invoke `connect()` or use
+`device_session()`.
+
+```python
+from embodied_ops import create_device
+
+robot = create_device("my_robot", {"config": "robot.toml"})
+robot.connect()
+try:
+    print(robot.manifest.to_dict())
+    print(robot.health())
+finally:
+    robot.disconnect()
+```
+
+Additional capabilities are expressed structurally through `ObservableDevice`,
+`CommandDevice`, `CalibratableDevice`, and `ResettableDevice`. Adapters such as
+LeRobot plugins translate these contracts into their framework-native interfaces.
+
+## RPC boundary
+
+Install the optional transport when an adapter and its hardware runtime must live in
+separate processes:
+
+```bash
+python -m pip install "embodied-ops[grpc]"
+```
+
+The runtime owns the real device and serves it; clients receive only the manifest and
+capability operations:
+
+```python
+from embodied_ops.rpc import DeviceRpcServer, RemoteDevice
+
+endpoint = "unix:///run/my-robot/device.sock"
+server = DeviceRpcServer(
+    device,
+    endpoint=endpoint,
+    lease_timeout_s=1.0,
+    command_timeout_s=0.5,
+)
+server.start()
+
+robot = RemoteDevice(endpoint=endpoint, client_name="my-adapter")
+robot.connect()
+```
+
+Protocol v1 provides describe, observe, command, health, calibration, and reset RPCs.
+It carries scalar features and dependency-free typed tensor payloads. Command sessions
+are exclusive and use opaque session ids, contiguous command sequence numbers,
+monotonic timestamps, server-owned leases, and an independent command-inactivity
+deadman. Heartbeats prove session liveness but do not keep an idle command lease alive.
+Observe-only sessions may coexist. Devices that implement `CommandLeaseDevice` can
+release their command resources while keeping read-only observation attached; other
+devices retain the conservative disconnect-on-command-close behavior. The hardware
+runtime remains responsible for its final fail-closed behavior.
+
+Only absolute `unix:///` endpoints are accepted in v1. TCP/TLS policy is intentionally
+not implied by the local protocol.
+
+## Versioning
+
+The Python package follows semantic versioning. `DeviceManifest.api_version` versions
+the capability contract independently. The wire handshake has its own
+`protocol_version`; both are currently version 1.
+
+## Development
+
+```bash
+uv sync --extra grpc --dev
+uv run pytest
+uv run ruff check .
+uv run ruff format --check .
+uv build
+```
+
+## License
+
+Apache-2.0

embodied_ops-0.2.0/pyproject.toml

@@ -0,0 +1,61 @@
+[project]
+name = "embodied-ops"
+version = "0.2.0"
+description = "Capability-oriented protocols for embodied systems"
+readme = "README.md"
+requires-python = ">=3.10"
+license = "Apache-2.0"
+authors = [{ name = "PengYue" }]
+keywords = ["robotics", "embodied-ai", "sdk", "protocol"]
+classifiers = [
+    "Development Status :: 3 - Alpha",
+    "Intended Audience :: Developers",
+    "Programming Language :: Python :: 3",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
+    "Programming Language :: Python :: 3.12",
+    "Programming Language :: Python :: 3.13",
+    "Topic :: Scientific/Engineering :: Artificial Intelligence",
+    "Typing :: Typed",
+]
+dependencies = []
+
+[project.optional-dependencies]
+grpc = [
+    "grpcio>=1.82.0,<2.0.0",
+    "protobuf>=7.35.0,<8.0.0",
+]
+
+[project.urls]
+Homepage = "https://github.com/pengyue-polaron/embodied-ops"
+Repository = "https://github.com/pengyue-polaron/embodied-ops"
+Issues = "https://github.com/pengyue-polaron/embodied-ops/issues"
+
+[build-system]
+requires = ["setuptools>=77"]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.setuptools.package-data]
+embodied_ops = ["py.typed"]
+"embodied_ops.rpc.v1" = ["*.proto"]
+
+[dependency-groups]
+dev = [
+    "build>=1.2",
+    "grpcio>=1.82.0,<2.0.0",
+    "grpcio-tools>=1.82.0,<2.0.0",
+    "protobuf>=7.35.0,<8.0.0",
+    "pytest>=8.3",
+    "ruff>=0.11",
+]
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+
+[tool.ruff]
+line-length = 100
+target-version = "py310"
+extend-exclude = ["src/embodied_ops/rpc/v1/*_pb2*.py"]

embodied_ops-0.2.0/setup.cfg

@@ -0,0 +1,4 @@
+[egg_info]
+tag_build = 
+tag_date = 0
+

embodied_ops-0.2.0/src/embodied_ops/__init__.py

@@ -0,0 +1,66 @@
+"""Public capability protocols for embodied systems."""
+
+from ._version import __version__
+from .device import (
+    API_VERSION,
+    CalibratableDevice,
+    Capability,
+    CommandDevice,
+    CommandLeaseDevice,
+    DeviceManifest,
+    HealthReport,
+    HealthStatus,
+    ObservableDevice,
+    OperationalDevice,
+    ResettableDevice,
+)
+from .errors import (
+    BackendConflictError,
+    BackendNotFoundError,
+    ContractError,
+    EmbodiedOpsError,
+    LifecycleError,
+    RpcError,
+)
+from .endpoints import unix_socket_path
+from .features import FeatureKind, FeatureSpec, index_features, validate_feature_values
+from .registry import (
+    BACKEND_ENTRY_POINT_GROUP,
+    BackendFactory,
+    BackendRegistry,
+    create_device,
+    default_registry,
+    device_session,
+)
+
+__all__ = [
+    "API_VERSION",
+    "BACKEND_ENTRY_POINT_GROUP",
+    "BackendConflictError",
+    "BackendFactory",
+    "BackendNotFoundError",
+    "BackendRegistry",
+    "CalibratableDevice",
+    "Capability",
+    "CommandDevice",
+    "CommandLeaseDevice",
+    "ContractError",
+    "DeviceManifest",
+    "EmbodiedOpsError",
+    "FeatureKind",
+    "FeatureSpec",
+    "HealthReport",
+    "HealthStatus",
+    "LifecycleError",
+    "ObservableDevice",
+    "OperationalDevice",
+    "ResettableDevice",
+    "RpcError",
+    "__version__",
+    "create_device",
+    "default_registry",
+    "device_session",
+    "index_features",
+    "unix_socket_path",
+    "validate_feature_values",
+]

embodied_ops-0.2.0/src/embodied_ops/_version.py

@@ -0,0 +1 @@
+__version__ = "0.2.0"

embodied_ops-0.2.0/src/embodied_ops/device.py

@@ -0,0 +1,134 @@
+"""Capability-oriented device contracts."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+from dataclasses import dataclass, field
+from enum import Enum
+from types import MappingProxyType
+from typing import Protocol, runtime_checkable
+
+from .errors import ContractError
+from .features import FeatureSpec, index_features
+
+API_VERSION = 1
+
+
+class Capability(str, Enum):
+    OBSERVE = "observe"
+    COMMAND = "command"
+    HEALTH = "health"
+    CALIBRATE = "calibrate"
+    RESET = "reset"
+
+
+class HealthStatus(str, Enum):
+    UNKNOWN = "unknown"
+    HEALTHY = "healthy"
+    DEGRADED = "degraded"
+    FAULT = "fault"
+
+
+@dataclass(frozen=True, slots=True)
+class HealthReport:
+    status: HealthStatus
+    summary: str
+    details: Mapping[str, object] = field(default_factory=dict)
+
+    def __post_init__(self) -> None:
+        if not self.summary:
+            raise ContractError("health summary must not be empty")
+        object.__setattr__(self, "details", MappingProxyType(dict(self.details)))
+
+
+@dataclass(frozen=True, slots=True)
+class DeviceManifest:
+    """Backend-neutral description of one operational device."""
+
+    identifier: str
+    capabilities: tuple[Capability, ...]
+    observation_features: tuple[FeatureSpec, ...] = ()
+    action_features: tuple[FeatureSpec, ...] = ()
+    metadata: Mapping[str, str] = field(default_factory=dict)
+    api_version: int = API_VERSION
+
+    def __post_init__(self) -> None:
+        if not self.identifier or self.identifier.strip() != self.identifier:
+            raise ContractError(f"invalid device identifier: {self.identifier!r}")
+        if self.api_version != API_VERSION:
+            raise ContractError(
+                f"unsupported manifest API version {self.api_version}; expected {API_VERSION}"
+            )
+        if len(set(self.capabilities)) != len(self.capabilities):
+            raise ContractError("device capabilities must be unique")
+        index_features(self.observation_features)
+        index_features(self.action_features)
+        if self.observation_features and Capability.OBSERVE not in self.capabilities:
+            raise ContractError("observation features require the observe capability")
+        if self.action_features and Capability.COMMAND not in self.capabilities:
+            raise ContractError("action features require the command capability")
+        object.__setattr__(self, "metadata", MappingProxyType(dict(self.metadata)))
+
+    def to_dict(self) -> dict[str, object]:
+        return {
+            "api_version": self.api_version,
+            "identifier": self.identifier,
+            "capabilities": [capability.value for capability in self.capabilities],
+            "observation_features": [feature.to_dict() for feature in self.observation_features],
+            "action_features": [feature.to_dict() for feature in self.action_features],
+            "metadata": dict(self.metadata),
+        }
+
+
+@runtime_checkable
+class OperationalDevice(Protocol):
+    """Minimum lifecycle and health surface implemented by every backend."""
+
+    @property
+    def manifest(self) -> DeviceManifest: ...
+
+    @property
+    def is_connected(self) -> bool: ...
+
+    def connect(self) -> None: ...
+
+    def health(self) -> HealthReport: ...
+
+    def disconnect(self) -> None: ...
+
+
+@runtime_checkable
+class ObservableDevice(OperationalDevice, Protocol):
+    def observe(self) -> Mapping[str, object]: ...
+
+
+@runtime_checkable
+class CommandDevice(OperationalDevice, Protocol):
+    def command(self, action: Mapping[str, object]) -> Mapping[str, object]: ...
+
+
+@runtime_checkable
+class CommandLeaseDevice(CommandDevice, Protocol):
+    """Optional hooks for transports that grant exclusive command ownership.
+
+    Observation resources may remain connected while a transport acquires and
+    releases the command path independently. Implementations must make release
+    fail closed and idempotent.
+    """
+
+    def acquire_command_lease(self) -> None: ...
+
+    def release_command_lease(self) -> None: ...
+
+
+@runtime_checkable
+class CalibratableDevice(OperationalDevice, Protocol):
+    @property
+    def is_calibrated(self) -> bool: ...
+
+    def calibrate(self) -> None: ...
+
+
+@runtime_checkable
+class ResettableDevice(OperationalDevice, Protocol):
+    def reset(self, target: str | None = None) -> None: ...