flexiv-control 0.1.0__tar.gz

flexiv_control-0.1.0/LICENSE

@@ -0,0 +1,201 @@
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+   Copyright 2026 Zihao Lu
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flexiv_control-0.1.0/NOTICE

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+flexiv_control
+Copyright 2026 Zihao Lu
+
+This product is licensed under the Apache License, Version 2.0 (see LICENSE).
+
+This is an independent, community-maintained project. It is NOT affiliated with,
+endorsed by, or supported by Flexiv Robotics. "Flexiv", "Rizon", "Grav", "GN01",
+and "RDK" are trademarks of their respective owner and are used here only to
+describe compatibility, as permitted under Section 6 of the Apache License,
+Version 2.0.
+
+The MuJoCo GN01 gripper model (src/flexiv_control/sim/grav_gn01.xml) reproduces
+the kinematics of the official Flexiv ROS description "flexiv_description"
+(https://github.com/flexivrobotics/flexiv_description), licensed Apache-2.0. The
+gripper meshes are NOT redistributed here; the builder
+(flexiv_control.sim.build_rizon_gn01) references your own flexiv_description
+checkout.

flexiv_control-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: flexiv-control
+Version: 0.1.0
+Summary: A unified, real-time execution & safety layer for Flexiv Rizon arms: one action contract for teleop, MPC, RL, and real2sim2real.
+Author: Zihao Lu
+License: Apache-2.0
+Project-URL: Homepage, https://github.com/ZihaoLu001/flexiv_control
+Project-URL: Repository, https://github.com/ZihaoLu001/flexiv_control
+Keywords: robotics,manipulation,flexiv,rizon,controller,reinforcement-learning,mpc,teleoperation,real2sim2real,lerobot
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: numpy>=1.20
+Provides-Extra: flexiv
+Requires-Dist: flexivrdk<2,>=1.5; extra == "flexiv"
+Provides-Extra: rl
+Requires-Dist: gymnasium>=0.29; extra == "rl"
+Provides-Extra: lerobot
+Requires-Dist: lerobot; extra == "lerobot"
+Provides-Extra: teleop
+Requires-Dist: pyspacemouse; extra == "teleop"
+Provides-Extra: yaml
+Requires-Dist: pyyaml; extra == "yaml"
+Provides-Extra: mujoco
+Requires-Dist: mujoco>=3.0; extra == "mujoco"
+Provides-Extra: dev
+Requires-Dist: pytest>=7; extra == "dev"
+Requires-Dist: pytest-timeout; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Dynamic: license-file
+
+<div align="center">
+
+<img src="docs/assets/banner.svg" alt="flexiv_control" width="100%"/>
+
+<h1>flexiv_control</h1>
+
+<p><b>A unified, real-time control &amp; safety layer for the Flexiv Rizon.</b><br/>
+One action contract for teleoperation, MPC, reinforcement learning, and real-to-sim-to-real manipulation.</p>
+
+<p>
+<a href="https://github.com/ZihaoLu001/flexiv_control/actions/workflows/ci.yml"><img src="https://img.shields.io/github/actions/workflow/status/ZihaoLu001/flexiv_control/ci.yml?branch=main&style=flat-square&label=CI&color=19E3C4" alt="CI"/></a>
+<img src="https://img.shields.io/badge/python-3.8%2B-4DA3FF?style=flat-square&logo=python&logoColor=white" alt="python"/>
+<img src="https://img.shields.io/badge/license-Apache--2.0-19E3C4?style=flat-square" alt="license"/>
+<img src="https://img.shields.io/badge/core_deps-numpy-4DA3FF?style=flat-square" alt="deps"/>
+<img src="https://img.shields.io/badge/status-alpha-f0a020?style=flat-square" alt="status"/>
+</p>
+
+<p>
+<a href="https://zihaolu001.github.io/flexiv_control/"><b>Landing page</b></a> ·
+<a href="#quick-start"><b>Quick start</b></a> ·
+<a href="docs/architecture.md"><b>Architecture</b></a> ·
+<a href="docs/action_contract.md"><b>Action contract</b></a> ·
+<a href="docs/safety.md"><b>Safety</b></a>
+</p>
+
+<p><sub><i>Community project — <b>NOT affiliated with, endorsed by, or supported by Flexiv Robotics.</b></i></sub></p>
+
+</div>
+
+---
+
+`flexiv_control` is a thin, fast layer between a high-level decision maker — a
+policy, an MPC planner, a teleoperator — and a Flexiv Rizon arm. It takes a
+high-level action, turns it into a **safe** stream of setpoints at the control
+rate, and reports back what actually happened.
+
+Every consumer speaks the **same action contract**, and every backend — a real
+Rizon via Flexiv RDK, a dependency-free `fake` backend, or a MuJoCo simulation —
+consumes the same safety-filtered setpoint stream. That is what makes one
+controller reusable across teleop, RL, MPC, and real2sim2real projects without
+forks. The design (a thin client over a real-time-capable loop, one action
+interface, sim + real behind a single backend switch) is the shape that Deoxys,
+Polymetis, frankapy, SERL/HIL-SERL, and LeRobot converged on
+([design rationale](docs/design_rationale.md)).
+
+## Features
+
+- **One action contract** — `CartesianChunk` / `CartesianDelta` / `JointChunk` +
+  `GripperCommand`, with absolute or relative-to-chunk-start poses, a
+  predict-vs-execute horizon, and a quantified `ExecutionResult`.
+- **Safety is first-class** — named, version-controlled `SafetyProfile`s and a
+  microsecond per-tick `SafetyFilter` (workspace box, speed/jump caps, joint
+  limits, contact-wrench stop, watchdog) that *clips or rejects and reports*.
+- **Sim ↔ real behind one switch** — a MuJoCo backend (Jacobian IK, gravity
+  compensation) with a **faithful GN01 gripper**, the `fake` backend for offline
+  dev, and a real Rizon, all behind one config string.
+- **Built for learning & control** — a Gymnasium env, a HIL-SERL intervention
+  wrapper, a `RecedingHorizonRunner` (the VLA / MPC policy-server seam), and a
+  SpaceMouse teleoperator, all on the same contract.
+- **Multi-user safe** — an in-process lease and a host-wide lock so two processes
+  can't fight over the arm.
+- **Optional, not required** — a numpy-only cross-process server + `RemoteRobot`,
+  a C++ 1 kHz real-time daemon, and a ROS 2 overlay. **The core needs only numpy.**
+
+## Installation
+
+```bash
+git clone https://github.com/ZihaoLu001/flexiv_control.git
+cd flexiv_control
+pip install -e .          # core: numpy only
+```
+
+<details>
+<summary>Optional extras (RL, teleop, LeRobot, MuJoCo, real hardware, dev)</summary>
+
+```bash
+pip install -e ".[rl]"        # + Gymnasium env
+pip install -e ".[teleop]"    # + SpaceMouse
+pip install -e ".[lerobot]"   # + LeRobot data/training
+pip install -e ".[mujoco]"    # + MuJoCo simulation backend
+pip install -e ".[flexiv]"    # + flexivrdk (real hardware; RDK v1.x)
+pip install -e ".[dev]"       # + pytest, ruff
+```
+See [docs/flexiv_setup.md](docs/flexiv_setup.md) for real-robot bring-up and
+[docs/versions.md](docs/versions.md) for RDK/firmware version pinning.
+</details>
+
+## Quick start
+
+No hardware needed — the `fake` backend is dependency-free:
+
+```python
+from flexiv_control import Robot, RobotConfig, CartesianChunk
+
+robot = Robot(RobotConfig(backend="fake"))     # or "mujoco" / "flexiv_rdk"
+robot.connect()
+robot.start_cartesian_impedance()
+
+chunk = CartesianChunk.from_waypoint_array([[0.45, 0.0, 0.30, 1.0, 20],
+                                            [0.50, 0.0, 0.25, 0.0, 20]])
+result = robot.execute_cartesian_chunk(chunk)
+print(result.success, result.path_tracking_error)
+
+robot.disconnect()
+```
+
+```bash
+flexiv-control demo            # offline FakeBackend demo, no hardware
+python examples/01_fake_hello.py
+```
+
+## Architecture
+
+The action contract is the only thing crossing the boundary, so the network
+server, Gym env, and ROS overlay are all pure pass-through:
+
+```
+ Language policy   MPC planner   RL trainer   SpaceMouse
+        \              |             |            /
+         └──►  CartesianChunk / CartesianDelta / JointChunk  ◄──┘
+                              │
+            Robot facade → SafetyFilter (per-tick) → Interpolator → backend → Rizon
+```
+
+The Rizon runs its hard real-time impedance loop **inside the robot**, so the
+host only streams setpoints. That gives **two tiers** — a Python default
+(100–500 Hz, RDK non-real-time modes) and an optional C++ 1 kHz daemon (RDK
+real-time modes) — sharing the same contract. The
+[landing page](https://zihaolu001.github.io/flexiv_control/) and
+[docs/architecture.md](docs/architecture.md) lay this out in full.
+
+| Path | Purpose |
+|---|---|
+| `src/flexiv_control/` | core: contract, safety, interpolation, robot facade, backends |
+| `src/flexiv_control/sim/` | MuJoCo Rizon + GN01 gripper model builder |
+| `cpp/` · `ros2/` | optional Tier-B 1 kHz RT daemon · optional ROS 2 overlay |
+| `configs/` · `examples/` · `tests/` | shipped YAML profiles · runnable demos · pytest suite |
+
+## Examples
+
+| File | Shows |
+|---|---|
+| `examples/01_fake_hello.py` | connect, read state, run a chunk on `fake` |
+| `examples/02_cartesian_chunk.py` | the action contract and `ExecutionResult` |
+| `examples/03_rl_gym_env.py` | Gymnasium env + HIL-SERL intervention |
+| `examples/04_mpc_loop.py` | a high-rate closed loop |
+| `examples/05_spacemouse_teleop.py` | teleop (scripted, or `--device`) |
+| `examples/06_lerobot_record.py` | recording in the LeRobot format |
+| `examples/07_receding_horizon.py` | receding-horizon execution + the VLA/MPC policy-server seam |
+
+## Documentation
+
+| Doc | What |
+|---|---|
+| [architecture.md](docs/architecture.md) | the stack, the two RT tiers, components, boundaries |
+| [action_contract.md](docs/action_contract.md) | the contract objects, conventions, chunk constructors |
+| [safety.md](docs/safety.md) | profiles, the filter, the shipped profiles, tuning |
+| [flexiv_setup.md](docs/flexiv_setup.md) | bringing up a real Rizon, licenses, first-run checklist |
+| [versions.md](docs/versions.md) | RDK version sensitivity and the `# VERIFY:` markers |
+| [integration_planner.md](docs/integration_planner.md) · [_mpc](docs/integration_mpc.md) · [_rl](docs/integration_rl.md) · [_teleop](docs/integration_teleop.md) | per-use-case integration guides |
+
+## Safety
+
+> **Before any motion on real hardware:** keep an E-stop within reach and
+> validate your `SafetyProfile` — especially the workspace box — on your own cell
+> at low speed. See [docs/safety.md](docs/safety.md).
+
+## Status
+
+Alpha (`0.1.0`). The Python core, safety, action contract, server/client,
+Gymnasium env, teleop, and the **MuJoCo simulation (including the GN01 gripper)**
+are tested in CI (Python 3.8 / 3.10 / 3.12). The **real-hardware** (`flexiv_rdk`)
+and the **C++ / ROS 2** paths are hardware-unvalidated and carry `# VERIFY:`
+markers to confirm against your installed versions before first use
+([docs/versions.md](docs/versions.md)).
+
+## Development
+
+```bash
+pip install -e ".[dev]"
+ruff check src tests examples
+pytest -q
+```
+
+Contributions welcome — see [CONTRIBUTING.md](CONTRIBUTING.md).
+
+## Citation
+
+If you use this in academic work, please cite it (see [CITATION.cff](CITATION.cff)).
+
+## License
+
+[Apache-2.0](LICENSE). The MuJoCo GN01 gripper model is derived from the official
+Flexiv ROS description (Apache-2.0); see [NOTICE](NOTICE).
+
+<div align="center"><sub>Built for the Flexiv Rizon · community-maintained · not affiliated with Flexiv Robotics</sub></div>

flexiv_control-0.1.0/README.md

@@ -0,0 +1,196 @@
+<div align="center">
+
+<img src="docs/assets/banner.svg" alt="flexiv_control" width="100%"/>
+
+<h1>flexiv_control</h1>
+
+<p><b>A unified, real-time control &amp; safety layer for the Flexiv Rizon.</b><br/>
+One action contract for teleoperation, MPC, reinforcement learning, and real-to-sim-to-real manipulation.</p>
+
+<p>
+<a href="https://github.com/ZihaoLu001/flexiv_control/actions/workflows/ci.yml"><img src="https://img.shields.io/github/actions/workflow/status/ZihaoLu001/flexiv_control/ci.yml?branch=main&style=flat-square&label=CI&color=19E3C4" alt="CI"/></a>
+<img src="https://img.shields.io/badge/python-3.8%2B-4DA3FF?style=flat-square&logo=python&logoColor=white" alt="python"/>
+<img src="https://img.shields.io/badge/license-Apache--2.0-19E3C4?style=flat-square" alt="license"/>
+<img src="https://img.shields.io/badge/core_deps-numpy-4DA3FF?style=flat-square" alt="deps"/>
+<img src="https://img.shields.io/badge/status-alpha-f0a020?style=flat-square" alt="status"/>
+</p>
+
+<p>
+<a href="https://zihaolu001.github.io/flexiv_control/"><b>Landing page</b></a> ·
+<a href="#quick-start"><b>Quick start</b></a> ·
+<a href="docs/architecture.md"><b>Architecture</b></a> ·
+<a href="docs/action_contract.md"><b>Action contract</b></a> ·
+<a href="docs/safety.md"><b>Safety</b></a>
+</p>
+
+<p><sub><i>Community project — <b>NOT affiliated with, endorsed by, or supported by Flexiv Robotics.</b></i></sub></p>
+
+</div>
+
+---
+
+`flexiv_control` is a thin, fast layer between a high-level decision maker — a
+policy, an MPC planner, a teleoperator — and a Flexiv Rizon arm. It takes a
+high-level action, turns it into a **safe** stream of setpoints at the control
+rate, and reports back what actually happened.
+
+Every consumer speaks the **same action contract**, and every backend — a real
+Rizon via Flexiv RDK, a dependency-free `fake` backend, or a MuJoCo simulation —
+consumes the same safety-filtered setpoint stream. That is what makes one
+controller reusable across teleop, RL, MPC, and real2sim2real projects without
+forks. The design (a thin client over a real-time-capable loop, one action
+interface, sim + real behind a single backend switch) is the shape that Deoxys,
+Polymetis, frankapy, SERL/HIL-SERL, and LeRobot converged on
+([design rationale](docs/design_rationale.md)).
+
+## Features
+
+- **One action contract** — `CartesianChunk` / `CartesianDelta` / `JointChunk` +
+  `GripperCommand`, with absolute or relative-to-chunk-start poses, a
+  predict-vs-execute horizon, and a quantified `ExecutionResult`.
+- **Safety is first-class** — named, version-controlled `SafetyProfile`s and a
+  microsecond per-tick `SafetyFilter` (workspace box, speed/jump caps, joint
+  limits, contact-wrench stop, watchdog) that *clips or rejects and reports*.
+- **Sim ↔ real behind one switch** — a MuJoCo backend (Jacobian IK, gravity
+  compensation) with a **faithful GN01 gripper**, the `fake` backend for offline
+  dev, and a real Rizon, all behind one config string.
+- **Built for learning & control** — a Gymnasium env, a HIL-SERL intervention
+  wrapper, a `RecedingHorizonRunner` (the VLA / MPC policy-server seam), and a
+  SpaceMouse teleoperator, all on the same contract.
+- **Multi-user safe** — an in-process lease and a host-wide lock so two processes
+  can't fight over the arm.
+- **Optional, not required** — a numpy-only cross-process server + `RemoteRobot`,
+  a C++ 1 kHz real-time daemon, and a ROS 2 overlay. **The core needs only numpy.**
+
+## Installation
+
+```bash
+git clone https://github.com/ZihaoLu001/flexiv_control.git
+cd flexiv_control
+pip install -e .          # core: numpy only
+```
+
+<details>
+<summary>Optional extras (RL, teleop, LeRobot, MuJoCo, real hardware, dev)</summary>
+
+```bash
+pip install -e ".[rl]"        # + Gymnasium env
+pip install -e ".[teleop]"    # + SpaceMouse
+pip install -e ".[lerobot]"   # + LeRobot data/training
+pip install -e ".[mujoco]"    # + MuJoCo simulation backend
+pip install -e ".[flexiv]"    # + flexivrdk (real hardware; RDK v1.x)
+pip install -e ".[dev]"       # + pytest, ruff
+```
+See [docs/flexiv_setup.md](docs/flexiv_setup.md) for real-robot bring-up and
+[docs/versions.md](docs/versions.md) for RDK/firmware version pinning.
+</details>
+
+## Quick start
+
+No hardware needed — the `fake` backend is dependency-free:
+
+```python
+from flexiv_control import Robot, RobotConfig, CartesianChunk
+
+robot = Robot(RobotConfig(backend="fake"))     # or "mujoco" / "flexiv_rdk"
+robot.connect()
+robot.start_cartesian_impedance()
+
+chunk = CartesianChunk.from_waypoint_array([[0.45, 0.0, 0.30, 1.0, 20],
+                                            [0.50, 0.0, 0.25, 0.0, 20]])
+result = robot.execute_cartesian_chunk(chunk)
+print(result.success, result.path_tracking_error)
+
+robot.disconnect()
+```
+
+```bash
+flexiv-control demo            # offline FakeBackend demo, no hardware
+python examples/01_fake_hello.py
+```
+
+## Architecture
+
+The action contract is the only thing crossing the boundary, so the network
+server, Gym env, and ROS overlay are all pure pass-through:
+
+```
+ Language policy   MPC planner   RL trainer   SpaceMouse
+        \              |             |            /
+         └──►  CartesianChunk / CartesianDelta / JointChunk  ◄──┘
+                              │
+            Robot facade → SafetyFilter (per-tick) → Interpolator → backend → Rizon
+```
+
+The Rizon runs its hard real-time impedance loop **inside the robot**, so the
+host only streams setpoints. That gives **two tiers** — a Python default
+(100–500 Hz, RDK non-real-time modes) and an optional C++ 1 kHz daemon (RDK
+real-time modes) — sharing the same contract. The
+[landing page](https://zihaolu001.github.io/flexiv_control/) and
+[docs/architecture.md](docs/architecture.md) lay this out in full.
+
+| Path | Purpose |
+|---|---|
+| `src/flexiv_control/` | core: contract, safety, interpolation, robot facade, backends |
+| `src/flexiv_control/sim/` | MuJoCo Rizon + GN01 gripper model builder |
+| `cpp/` · `ros2/` | optional Tier-B 1 kHz RT daemon · optional ROS 2 overlay |
+| `configs/` · `examples/` · `tests/` | shipped YAML profiles · runnable demos · pytest suite |
+
+## Examples
+
+| File | Shows |
+|---|---|
+| `examples/01_fake_hello.py` | connect, read state, run a chunk on `fake` |
+| `examples/02_cartesian_chunk.py` | the action contract and `ExecutionResult` |
+| `examples/03_rl_gym_env.py` | Gymnasium env + HIL-SERL intervention |
+| `examples/04_mpc_loop.py` | a high-rate closed loop |
+| `examples/05_spacemouse_teleop.py` | teleop (scripted, or `--device`) |
+| `examples/06_lerobot_record.py` | recording in the LeRobot format |
+| `examples/07_receding_horizon.py` | receding-horizon execution + the VLA/MPC policy-server seam |
+
+## Documentation
+
+| Doc | What |
+|---|---|
+| [architecture.md](docs/architecture.md) | the stack, the two RT tiers, components, boundaries |
+| [action_contract.md](docs/action_contract.md) | the contract objects, conventions, chunk constructors |
+| [safety.md](docs/safety.md) | profiles, the filter, the shipped profiles, tuning |
+| [flexiv_setup.md](docs/flexiv_setup.md) | bringing up a real Rizon, licenses, first-run checklist |
+| [versions.md](docs/versions.md) | RDK version sensitivity and the `# VERIFY:` markers |
+| [integration_planner.md](docs/integration_planner.md) · [_mpc](docs/integration_mpc.md) · [_rl](docs/integration_rl.md) · [_teleop](docs/integration_teleop.md) | per-use-case integration guides |
+
+## Safety
+
+> **Before any motion on real hardware:** keep an E-stop within reach and
+> validate your `SafetyProfile` — especially the workspace box — on your own cell
+> at low speed. See [docs/safety.md](docs/safety.md).
+
+## Status
+
+Alpha (`0.1.0`). The Python core, safety, action contract, server/client,
+Gymnasium env, teleop, and the **MuJoCo simulation (including the GN01 gripper)**
+are tested in CI (Python 3.8 / 3.10 / 3.12). The **real-hardware** (`flexiv_rdk`)
+and the **C++ / ROS 2** paths are hardware-unvalidated and carry `# VERIFY:`
+markers to confirm against your installed versions before first use
+([docs/versions.md](docs/versions.md)).
+
+## Development
+
+```bash
+pip install -e ".[dev]"
+ruff check src tests examples
+pytest -q
+```
+
+Contributions welcome — see [CONTRIBUTING.md](CONTRIBUTING.md).
+
+## Citation
+
+If you use this in academic work, please cite it (see [CITATION.cff](CITATION.cff)).
+
+## License
+
+[Apache-2.0](LICENSE). The MuJoCo GN01 gripper model is derived from the official
+Flexiv ROS description (Apache-2.0); see [NOTICE](NOTICE).
+
+<div align="center"><sub>Built for the Flexiv Rizon · community-maintained · not affiliated with Flexiv Robotics</sub></div>