lekit-robot 0.1.0__tar.gz

lekit_robot-0.1.0/.gitignore

@@ -0,0 +1,27 @@
+# Python-generated files
+__pycache__/
+*.py[oc]
+build/
+dist/
+wheels/
+*.egg-info
+uv.lock
+
+# Virtual environments
+.venv
+
+# Other files
+data
+data/
+logs/
+outputs/
+tmp/
+
+.agents/
+skills-lock.json
+.marscode/
+artifacts/
+.cloudxr/
+.lekit/
+.worktrees/
+.codegraph/

lekit_robot-0.1.0/LICENSE

@@ -0,0 +1,176 @@
+                                 Apache License
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+                        http://www.apache.org/licenses/
+
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lekit_robot-0.1.0/PKG-INFO

@@ -0,0 +1,160 @@
+Metadata-Version: 2.4
+Name: lekit-robot
+Version: 0.1.0
+Summary: Small Python SDK for observing and controlling Lekit Robot Node
+Project-URL: Repository, https://github.com/sorelferris/lekit
+Project-URL: Issues, https://github.com/sorelferris/lekit/issues
+Author: Sorel Ferris
+License-Expression: Apache-2.0
+License-File: LICENSE
+Requires-Python: >=3.12
+Requires-Dist: eclipse-zenoh<2,>=1.9
+Requires-Dist: numpy<3,>=1.26
+Requires-Dist: pillow<13,>=10
+Requires-Dist: pydantic<3,>=2
+Description-Content-Type: text/markdown
+
+# lekit-robot
+
+Small Python SDK for a running **Lekit Robot Node**. Discover a robot by name,
+read joint/pose feedback and RGB/depth images, and send absolute motion targets.
+The client does not install LeRobot, Torch, OpenCV, robot drivers, or camera drivers.
+Python 3.12+ is required.
+
+## Install
+
+After publication:
+
+```sh
+pip install lekit-robot
+```
+
+From this repository before publication:
+
+```sh
+pip install ./packages/lekit_robot
+```
+
+Robot Node must already be running on the robot computer. Clients need network
+access to its Zenoh peer; the browser's HTTP port 8080 is not the SDK endpoint.
+LAN multicast discovery is the default. If discovery is blocked, configure both
+Node (`lekit-robot --zenoh-router tcp/ROUTER_IP:7447`) and client
+(`connect(name="NERO Dual", router="tcp/ROUTER_IP:7447")`) to use an existing Zenoh router.
+This package does not install the Robot Node command-line server.
+
+## Observe (does not acquire control)
+
+```python
+from lekit_robot import connect
+
+with connect(name="NERO Dual", timeout=5) as robot:
+    obs = robot.get_observation(images=True, timeout=5)
+    print(obs.robot.status, obs.robot.state)
+    camera = obs.camera(name="head_view")
+    if camera.color is not None:
+        print(camera.color.shape)  # H x W x 3, RGB uint8
+    print(robot.descriptor.joint_fields)
+```
+
+`images=False` omits images. `robot.observations(images=False, timeout=5)` yields
+latest-only snapshots. Camera samples have independent capture times; an observation
+is not a hardware-synchronized frame set. Check sample status and capture time.
+Depth is a uint16 array in the server's camera units, not automatically metres.
+
+## Control
+
+Control requires enabled motors, `allow_control=True`, fresh feedback, normal mode,
+and no emergency stop. Close Teleop before acquiring external control. The context
+manager holds and renews an exclusive control lease and releases it on exit.
+Multiple clients may observe; only one controller may own the lease.
+
+The following function sends a real motion command **when called**:
+
+```python
+from lekit_robot import connect
+
+def move_left_joint3(delta_rad):
+    with connect(name="NERO Dual") as robot:
+        with robot.control():
+            obs = robot.get_observation(images=False)
+            state = obs.robot.state
+            if obs.robot.status != "connected" or not state or not state.get("left.feedback_fresh"):
+                raise RuntimeError("Fresh left arm feedback is required")
+            joints = [state[f"left.joint_{i}"] for i in range(1, 8)]
+            joints[2] += delta_rad
+            return robot.set_joints(joints, side="left")
+```
+
+| Method | Target |
+| --- | --- |
+| `set_joints(values, side=None, timeout=None)` | Absolute joint values in advertised order, or a mapping with full field names |
+| `set_target(values, side=None, mode="point", timeout=None)` | Absolute flange/EEF pose in advertised order, or a full-key mapping |
+| `set_target(x=..., y=..., z=..., roll=..., pitch=..., yaw=..., side="left")` | One arm's complete pose |
+| `set_gripper(width, side="left", timeout=None)` | One gripper's absolute opening |
+| `set_gripper(values, timeout=None)` | All grippers, in advertised order or full-key mapping |
+
+For NERO Dual, `left` is can1 and `right` is can0. Joint/rotation units are radians;
+position and gripper width units are metres. Pose fields represent the flange in
+that arm's base frame. For other robots use the plugin-declared field semantics.
+`side` selects only that arm; the other arm receives no target. Without `side`,
+provide the complete advertised target (14 joint values or 12 pose values for NERO).
+A scalar gripper width requires `side` on a dual-arm robot. There is no implicit
+broadcast of one pose or gripper value to both arms.
+
+NERO uses firmware-planned point targets. `stream` replaces targets through the
+same backend; it does not guarantee a hard realtime servo or a straight path.
+Unsupported modes, partial targets and out-of-range values are rejected.
+
+A receipt acknowledges command submission, **not arrival or successful IK**.
+Continue observing measured state and alarms. `ActionOutcomeUnknownError` means a
+command may already have executed: do not retry it automatically. A control lease
+is ownership arbitration, not a hardware emergency stop or a stop-on-disconnect guarantee.
+Use the Robot Node emergency stop or physical stop as appropriate.
+
+## Compatibility
+
+The wire protocol remains `lekit/v1`. New clients opt into the gripper manifest
+extension; old clients continue to receive the original manifest shape. An old
+Node can still supply observations and existing targets, but gripper commands need
+an updated Node; unsupported grippers raise `UnsupportedCommandError` locally.
+Per-arm commands also require the updated Node validation. Update client and Node
+together for complete NERO Dual support. Reconnect after replacing the Node or its
+robot configuration; the SDK never silently rebinds an existing control session.
+
+Existing applications may keep `from lekit.robot import connect` when the main
+project is installed: those imports re-export this package's implementation.
+
+## Build and release
+
+From `packages/lekit_robot`:
+
+```sh
+python -m pip install build twine
+python -m build
+python -m twine check dist/*
+python -m twine upload --repository testpypi dist/*
+# After testing the installed wheel in a clean environment:
+python -m twine upload dist/*
+```
+
+Publishing needs a PyPI account and an API token or configured Trusted Publisher.
+Never store credentials in source files. Version 0.1.0 is the initial release;
+subsequent releases must use a new version number.
+
+License: Apache-2.0, matching the repository's existing standalone package convention.
+
+A build/test and manual publishing workflow is provided at
+`.github/workflows/lekit-robot-release.yml`. It installs the built wheel in an
+isolated environment before testing. Pushes and pull requests only build/test.
+After the workflow is committed to the default branch, configure a PyPI pending
+Trusted Publisher for a new project:
+
+- Project: `lekit-robot`
+- Owner: `sorelferris`
+- Repository: `lekit`
+- Workflow: `lekit-robot-release.yml`
+- Environment: `pypi` (or `testpypi` on TestPyPI)
+
+Then run the workflow manually, selecting `testpypi` first, and `pypi` for the
+release. Configure the two registries separately. This avoids storing a long-lived
+PyPI token. See https://docs.pypi.org/trusted-publishers/creating-a-project-through-oidc/.

lekit_robot-0.1.0/README.md

@@ -0,0 +1,144 @@
+# lekit-robot
+
+Small Python SDK for a running **Lekit Robot Node**. Discover a robot by name,
+read joint/pose feedback and RGB/depth images, and send absolute motion targets.
+The client does not install LeRobot, Torch, OpenCV, robot drivers, or camera drivers.
+Python 3.12+ is required.
+
+## Install
+
+After publication:
+
+```sh
+pip install lekit-robot
+```
+
+From this repository before publication:
+
+```sh
+pip install ./packages/lekit_robot
+```
+
+Robot Node must already be running on the robot computer. Clients need network
+access to its Zenoh peer; the browser's HTTP port 8080 is not the SDK endpoint.
+LAN multicast discovery is the default. If discovery is blocked, configure both
+Node (`lekit-robot --zenoh-router tcp/ROUTER_IP:7447`) and client
+(`connect(name="NERO Dual", router="tcp/ROUTER_IP:7447")`) to use an existing Zenoh router.
+This package does not install the Robot Node command-line server.
+
+## Observe (does not acquire control)
+
+```python
+from lekit_robot import connect
+
+with connect(name="NERO Dual", timeout=5) as robot:
+    obs = robot.get_observation(images=True, timeout=5)
+    print(obs.robot.status, obs.robot.state)
+    camera = obs.camera(name="head_view")
+    if camera.color is not None:
+        print(camera.color.shape)  # H x W x 3, RGB uint8
+    print(robot.descriptor.joint_fields)
+```
+
+`images=False` omits images. `robot.observations(images=False, timeout=5)` yields
+latest-only snapshots. Camera samples have independent capture times; an observation
+is not a hardware-synchronized frame set. Check sample status and capture time.
+Depth is a uint16 array in the server's camera units, not automatically metres.
+
+## Control
+
+Control requires enabled motors, `allow_control=True`, fresh feedback, normal mode,
+and no emergency stop. Close Teleop before acquiring external control. The context
+manager holds and renews an exclusive control lease and releases it on exit.
+Multiple clients may observe; only one controller may own the lease.
+
+The following function sends a real motion command **when called**:
+
+```python
+from lekit_robot import connect
+
+def move_left_joint3(delta_rad):
+    with connect(name="NERO Dual") as robot:
+        with robot.control():
+            obs = robot.get_observation(images=False)
+            state = obs.robot.state
+            if obs.robot.status != "connected" or not state or not state.get("left.feedback_fresh"):
+                raise RuntimeError("Fresh left arm feedback is required")
+            joints = [state[f"left.joint_{i}"] for i in range(1, 8)]
+            joints[2] += delta_rad
+            return robot.set_joints(joints, side="left")
+```
+
+| Method | Target |
+| --- | --- |
+| `set_joints(values, side=None, timeout=None)` | Absolute joint values in advertised order, or a mapping with full field names |
+| `set_target(values, side=None, mode="point", timeout=None)` | Absolute flange/EEF pose in advertised order, or a full-key mapping |
+| `set_target(x=..., y=..., z=..., roll=..., pitch=..., yaw=..., side="left")` | One arm's complete pose |
+| `set_gripper(width, side="left", timeout=None)` | One gripper's absolute opening |
+| `set_gripper(values, timeout=None)` | All grippers, in advertised order or full-key mapping |
+
+For NERO Dual, `left` is can1 and `right` is can0. Joint/rotation units are radians;
+position and gripper width units are metres. Pose fields represent the flange in
+that arm's base frame. For other robots use the plugin-declared field semantics.
+`side` selects only that arm; the other arm receives no target. Without `side`,
+provide the complete advertised target (14 joint values or 12 pose values for NERO).
+A scalar gripper width requires `side` on a dual-arm robot. There is no implicit
+broadcast of one pose or gripper value to both arms.
+
+NERO uses firmware-planned point targets. `stream` replaces targets through the
+same backend; it does not guarantee a hard realtime servo or a straight path.
+Unsupported modes, partial targets and out-of-range values are rejected.
+
+A receipt acknowledges command submission, **not arrival or successful IK**.
+Continue observing measured state and alarms. `ActionOutcomeUnknownError` means a
+command may already have executed: do not retry it automatically. A control lease
+is ownership arbitration, not a hardware emergency stop or a stop-on-disconnect guarantee.
+Use the Robot Node emergency stop or physical stop as appropriate.
+
+## Compatibility
+
+The wire protocol remains `lekit/v1`. New clients opt into the gripper manifest
+extension; old clients continue to receive the original manifest shape. An old
+Node can still supply observations and existing targets, but gripper commands need
+an updated Node; unsupported grippers raise `UnsupportedCommandError` locally.
+Per-arm commands also require the updated Node validation. Update client and Node
+together for complete NERO Dual support. Reconnect after replacing the Node or its
+robot configuration; the SDK never silently rebinds an existing control session.
+
+Existing applications may keep `from lekit.robot import connect` when the main
+project is installed: those imports re-export this package's implementation.
+
+## Build and release
+
+From `packages/lekit_robot`:
+
+```sh
+python -m pip install build twine
+python -m build
+python -m twine check dist/*
+python -m twine upload --repository testpypi dist/*
+# After testing the installed wheel in a clean environment:
+python -m twine upload dist/*
+```
+
+Publishing needs a PyPI account and an API token or configured Trusted Publisher.
+Never store credentials in source files. Version 0.1.0 is the initial release;
+subsequent releases must use a new version number.
+
+License: Apache-2.0, matching the repository's existing standalone package convention.
+
+A build/test and manual publishing workflow is provided at
+`.github/workflows/lekit-robot-release.yml`. It installs the built wheel in an
+isolated environment before testing. Pushes and pull requests only build/test.
+After the workflow is committed to the default branch, configure a PyPI pending
+Trusted Publisher for a new project:
+
+- Project: `lekit-robot`
+- Owner: `sorelferris`
+- Repository: `lekit`
+- Workflow: `lekit-robot-release.yml`
+- Environment: `pypi` (or `testpypi` on TestPyPI)
+
+Then run the workflow manually, selecting `testpypi` first, and `pypi` for the
+release. Configure the two registries separately. This avoids storing a long-lived
+PyPI token. See https://docs.pypi.org/trusted-publishers/creating-a-project-through-oidc/.

lekit_robot-0.1.0/examples/observe.py

@@ -0,0 +1,22 @@
+"""Read state and images without acquiring control or sending motion."""
+
+import argparse
+
+from lekit_robot import connect
+
+
+def main():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("--name", required=True)
+    parser.add_argument("--router")
+    parser.add_argument("--no-images", action="store_true")
+    args = parser.parse_args()
+    with connect(name=args.name, router=args.router, timeout=5) as robot:
+        observation = robot.get_observation(images=not args.no_images, timeout=5)
+        print(observation.robot.status, observation.robot.state)
+        for camera in observation.cameras.values():
+            print(camera.name, camera.status, None if camera.color is None else camera.color.shape)
+
+
+if __name__ == "__main__":
+    main()

lekit_robot-0.1.0/pyproject.toml

@@ -0,0 +1,34 @@
+[build-system]
+requires = ["hatchling>=1.27"]
+build-backend = "hatchling.build"
+
+[project]
+name = "lekit-robot"
+version = "0.1.0"
+description = "Small Python SDK for observing and controlling Lekit Robot Node"
+readme = "README.md"
+requires-python = ">=3.12"
+license = "Apache-2.0"
+license-files = ["LICENSE"]
+authors = [{ name = "Sorel Ferris" }]
+dependencies = [
+    "numpy>=1.26,<3",
+    "pydantic>=2,<3",
+    "eclipse-zenoh>=1.9,<2",
+    "Pillow>=10,<13",
+]
+
+[project.urls]
+Repository = "https://github.com/sorelferris/lekit"
+Issues = "https://github.com/sorelferris/lekit/issues"
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/lekit_robot"]
+core-metadata-version = "2.4"
+
+[tool.hatch.build.targets.sdist]
+include = ["/LICENSE", "/README.md", "/pyproject.toml", "/src", "/tests", "/examples"]
+core-metadata-version = "2.4"
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]

lekit_robot-0.1.0/src/lekit_robot/__init__.py

@@ -0,0 +1,44 @@
+"""Public local and remote Robot interfaces."""
+
+from .observation import CameraObservation, Observation, ObservationStatus, RobotObservation
+from .remote import (
+    ActionMode,
+    ActionOutcomeUnknownError,
+    ActionReceipt,
+    ActionRejectedError,
+    AmbiguousRobotNameError,
+    ControlBusyError,
+    InvalidTargetError,
+    RemoteRobot,
+    RobotClientError,
+    RobotDescriptor,
+    RobotDisconnectedError,
+    RobotIdentityConflictError,
+    RobotNotFoundError,
+    TransportUnavailableError,
+    UnsupportedCommandError,
+    connect,
+)
+
+__all__ = [
+    "ActionMode",
+    "ActionOutcomeUnknownError",
+    "ActionReceipt",
+    "ActionRejectedError",
+    "AmbiguousRobotNameError",
+    "CameraObservation",
+    "ControlBusyError",
+    "InvalidTargetError",
+    "Observation",
+    "ObservationStatus",
+    "RemoteRobot",
+    "RobotClientError",
+    "RobotDescriptor",
+    "RobotDisconnectedError",
+    "RobotIdentityConflictError",
+    "RobotNotFoundError",
+    "RobotObservation",
+    "TransportUnavailableError",
+    "UnsupportedCommandError",
+    "connect",
+]