loop-sdk 0.1.0__tar.gz → 0.1.2__tar.gz

{loop_sdk-0.1.0 → loop_sdk-0.1.2}/.github/workflows/publish.yml

@@ -19,7 +19,10 @@ name: Publish to PyPI
 on:
   push:
     tags:
-      - "v*"
+      # Only clean version tags trigger a release. `[0-9]+` = one or more digits
+      # (so 2- or 3-digit segments are fine), `.` is literal. No other tag fires.
+      - "v[0-9]+.[0-9]+.[0-9]+"          # vX.Y.Z       -> PyPI
+      - "v[0-9]+.[0-9]+.[0-9]+-test*"    # vX.Y.Z-test… -> TestPyPI (rehearsal)
 
 permissions:
   contents: read
@@ -34,6 +37,8 @@ jobs:
       url: https://test.pypi.org/p/loop-sdk
     permissions:
       id-token: write           # OIDC token for Trusted Publishing
+      contents: read            # read the repo at checkout (required for PRIVATE repos;
+                                # job-level permissions REPLACE the top-level block)
     steps:
       - uses: actions/checkout@v4
         with:
@@ -66,6 +71,8 @@ jobs:
       url: https://pypi.org/p/loop-sdk
     permissions:
       id-token: write           # OIDC token for Trusted Publishing
+      contents: read            # read the repo at checkout (required for PRIVATE repos;
+                                # job-level permissions REPLACE the top-level block)
     steps:
       - uses: actions/checkout@v4
         with:

loop_sdk-0.1.2/CONTRIBUTING.md

@@ -0,0 +1,91 @@
+# Contributing to loop-sdk
+
+Maintainer notes: how to test the package and how to release it. (User-facing
+usage lives in the [README](README.md).)
+
+The project uses **[uv](https://docs.astral.sh/uv/)**. The dev tools (pytest,
+ruff, pyright) aren't pinned as dependencies, so the commands below pull them on
+demand with `uv run --with` / `uvx`.
+
+## Testing
+
+```bash
+# Unit + integration tests
+uv run --with pytest python -m pytest
+
+# Unit only (skip the integration-marked tests that touch sockets/threads)
+uv run --with pytest python -m pytest tests/unit
+
+# Lint and format
+uv run --with ruff ruff check src tests
+uv run --with ruff ruff format --check src tests
+
+# Type-check
+uvx pyright src tests
+```
+
+The generated gRPC stubs under `src/loop_sdk/gen/` are excluded from lint and
+type-checking — don't hand-edit them (see below).
+
+## Regenerating the gRPC stubs
+
+The proto contract is vendored at `proto/loop/foundation/source/v1/` (owned
+upstream by the loop foundation module). After editing it, regenerate:
+
+```bash
+make proto        # buf lint + buf generate + protoletariat (needs buf on PATH + uv)
+```
+
+This rewrites `src/loop_sdk/gen/`. Never edit those files by hand; change the
+`.proto` and regenerate. Field numbers must stay in sync with the foundation
+proto, or producer/consumer wire compatibility breaks.
+
+## Releasing to PyPI
+
+Versioning is **tag-driven** (`hatch-vcs`): a tag `vX.Y.Z` becomes package version
+`X.Y.Z` — there is no version to bump in `pyproject.toml`. A push of a version tag
+triggers `.github/workflows/publish.yml`, which builds the sdist + wheel and
+publishes via **PyPI Trusted Publishing (OIDC)** — no API tokens.
+
+Only clean version tags trigger a release:
+
+| Tag | Publishes to | Version |
+|---|---|---|
+| `vX.Y.Z` (e.g. `v0.1.0`, `v1.20.300`) | **PyPI** | `X.Y.Z` |
+| `vX.Y.Z-test` (or `-test2`, …) | **TestPyPI** (rehearsal) | `X.Y.Z.dev<run>` (unique per run) |
+| anything else (`v1`, `v1.2`, `nightly`, …) | nothing | — |
+
+### Cut a release
+
+```bash
+# (optional) rehearse on TestPyPI first
+git tag v0.1.0-test && git push origin v0.1.0-test
+
+# the real release
+git checkout main && git pull
+git tag v0.1.0 && git push origin v0.1.0
+```
+
+A tag-triggered run uses the workflow file **as it exists at the tagged commit**,
+so if you change the workflow, tag on top of that change (or re-tag).
+
+### One-time Trusted Publishing setup
+
+Register a trusted publisher on **each** index (they're separate sites with
+separate accounts). Project `loop-sdk`, owner `configinc`, repo `loop-sdk`,
+workflow `publish.yml`:
+
+- **pypi.org** → environment `pypi`
+- **test.pypi.org** → environment `testpypi`
+
+Before the project exists on an index, add it as a **pending publisher**. A
+mismatch surfaces as an `invalid-publisher` error on the publish step.
+
+### Notes
+
+- **Private repo is fine.** Trusted Publishing works regardless of repo
+  visibility; the published package stays public. The publish jobs grant
+  `contents: read` (needed for `actions/checkout` on a private repo) alongside
+  `id-token: write`.
+- The published wheel contains the `loop_sdk` package (including the generated
+  stubs); `proto/`, `tests/`, and `examples/` are not shipped.

{loop_sdk-0.1.0 → loop_sdk-0.1.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: loop-sdk
-Version: 0.1.0
+Version: 0.1.2
 Summary: Customer-side gRPC client SDK for the Loop Source Bus.
 Requires-Python: >=3.10
 Requires-Dist: grpcio>=1.81.1

loop_sdk-0.1.2/README.md

@@ -0,0 +1,195 @@
+# loop-sdk
+
+[English](#loop-sdk) · [한국어](#한국어)
+
+```bash
+pip install loop-sdk      # Python ≥ 3.10
+```
+
+The Python client that connects your robot to **Loop**.
+
+Loop records your robot's runs as episodes and deploys trained policies back onto
+it. This SDK is the robot's side of that link — a single gRPC connection it manages
+for you (handshake, retries, reconnection, backpressure) — and it does two things:
+
+- **Record your robot.** Stream its per-tick state and actions to Loop as named
+  channels. An operator presses record in the Loop UI and the run is saved as an
+  episode; you just keep streaming — you never manage recording yourself.
+- **Run a Loop-hosted policy.** Subscribe to a deployment's action stream and
+  execute the actions it sends, instead of standing up your own inference server.
+
+Most people start with recording. It's one class — `RobotStepSender` — and three
+calls: `connect`, `send` each control tick, `disconnect`.
+
+## Stream your robot in
+
+```python
+import time
+
+from loop_sdk import RobotStepSender, RobotConfig, RobotConfigOptions
+
+control_hz = 20   # the control rate; updated when Loop negotiates one below
+
+# At Open, Loop picks a config from `options`; apply it to your robot and confirm.
+# (robot-control-interface assigns this to env.control_hz.)
+def apply_robot_config(cfg: RobotConfig) -> RobotConfig | None:
+    global control_hz
+    control_hz = cfg.control_hz
+    return cfg
+
+# loop_addr defaults to the LOOP_ADDR env var (else localhost:50051),
+# source_id to "robot-step". Advertise the configs you can open with.
+sender = RobotStepSender(
+    options=RobotConfigOptions(control_hz=(10, 20, 30), action_space=("target_cartesian_delta",)),
+    apply_config=apply_robot_config,
+)
+
+sender.connect()
+while running:                                # your control loop
+    t_capture_us = time.time_ns() // 1_000    # capture time, epoch microseconds
+    # A nested dict — the SDK flattens it to dotted channel keys. The FIRST send
+    # fixes the layout, so this first frame must be complete. A numeric list is ONE
+    # vector channel (robot0.action.joint_position); build key[0], key[1], … yourself
+    # for per-index scalar channels.
+    sender.send(t_capture_us, {
+        "robot0": {
+            "observation": {"robot_state": {"joint_positions": [0.12, -0.34, 1.57], "gripper": 0.80}},
+            "action": {"joint_position": [0.13, -0.33, 1.55]},
+            "policy_action": [0.01, -0.02, 0.00],   # or None when teleop is driving
+        },
+    })
+    wait_for_next_tick(control_hz)            # your loop's rate control — send does not pace
+sender.disconnect()                           # on shutdown (not for pauses)
+```
+
+A few things worth knowing:
+
+- **You name the channels.** Send a nested dict; the SDK flattens it to dotted keys
+  (`robot0.observation...`). The **first `send` fixes the layout**, so include every
+  channel you'll ever send in that first frame — give "no reading" ones `None`.
+- **The operator runs recording, not you.** Keep streaming; Loop captures when told
+  to. `send` never blocks and doesn't pace your loop — your loop owns its own rate.
+- **Config negotiation (when your robot can open in more than one config).**
+  Advertise the choices via `options`; at connect Loop picks one and the SDK calls
+  your `apply_config` to apply it (e.g. the control rate), after validating it
+  against what you advertised. Nothing to negotiate? Drop `options`/`apply_config`.
+  Need the config settled *before* the first send? Call `sender.declare(channels)`
+  once after `connect()`.
+
+## Run a Loop-hosted policy
+
+The mirror of streaming in: instead of calling an inference server, subscribe to a
+deployment's policy-action source and execute the actions it produces. See
+[`examples/policy_action_consumer.py`](examples/policy_action_consumer.py).
+
+## Examples
+
+[`examples/`](examples/): `quickstart.py` (the smallest version of the above) ·
+`robot_step_producer.py` (a full dual-arm producer with config negotiation) ·
+`policy_action_consumer.py` (reading a policy back out). Run with
+`LOOP_ADDR=host:port python examples/<file>.py`.
+
+## Lower level
+
+`RobotStepSender` is robot-only and opinionated. For per-channel metadata
+(`role` / `unit` / `rot_type`) or non-robot source kinds (tactile, marker), use
+`loop_sdk.SourceProducer` / `SourceConsumer` directly — the high-level sender is
+built on them. **Developing & releasing:** [`CONTRIBUTING.md`](CONTRIBUTING.md).
+Internals & specs: [`docs/`](docs/).
+
+---
+
+<a id="한국어"></a>
+
+# loop-sdk (한국어)
+
+[English](#loop-sdk) · [한국어](#한국어)
+
+```bash
+pip install loop-sdk      # Python ≥ 3.10
+```
+
+로봇을 **Loop**에 연결하는 Python 클라이언트입니다.
+
+Loop는 로봇의 실행을 에피소드로 **녹화**하고, 학습된 정책을 로봇에 **배포**하는 플랫폼입니다.
+이 SDK는 그 연결의 로봇 쪽 — SDK가 알아서 관리하는 단일 gRPC 연결(핸드셰이크·재시도·재연결·
+백프레셔) — 이고, 두 가지를 합니다:
+
+- **로봇 녹화.** 매 tick의 상태·액션을 named 채널로 Loop에 스트리밍합니다. operator가 Loop
+  UI에서 녹화를 누르면 그 실행이 에피소드로 저장됩니다 — 너는 계속 스트리밍만 하면 되고,
+  녹화 자체를 관리하지 않습니다.
+- **Loop가 호스팅한 정책 실행.** 자체 추론 서버를 띄우는 대신, 배포(deployment)의 액션
+  스트림을 구독해 그 액션을 실행합니다.
+
+대부분 녹화부터 시작합니다. 클래스 하나 — `RobotStepSender` — 와 세 번의 호출:
+`connect`, 매 제어 tick `send`, `disconnect`.
+
+## 로봇 스트리밍
+
+```python
+import time
+
+from loop_sdk import RobotStepSender, RobotConfig, RobotConfigOptions
+
+control_hz = 20   # 제어율; 아래에서 Loop가 협상하면 갱신됨
+
+# Open 시 Loop가 `options` 중 하나를 고름 → 로봇에 적용하고 확인 반환.
+# (robot-control-interface는 이를 env.control_hz에 대입.)
+def apply_robot_config(cfg: RobotConfig) -> RobotConfig | None:
+    global control_hz
+    control_hz = cfg.control_hz
+    return cfg
+
+# loop_addr 기본값 = LOOP_ADDR 환경변수(없으면 localhost:50051), source_id 기본값 = "robot-step".
+# 열 수 있는 config들을 광고.
+sender = RobotStepSender(
+    options=RobotConfigOptions(control_hz=(10, 20, 30), action_space=("target_cartesian_delta",)),
+    apply_config=apply_robot_config,
+)
+
+sender.connect()
+while running:                                # 네 제어 루프
+    t_capture_us = time.time_ns() // 1_000    # 캡처 시각, epoch 마이크로초
+    # 중첩 dict → SDK가 점-키로 평탄화. 첫 send가 레이아웃을 고정하므로 첫 프레임은 완전해야.
+    # 숫자 리스트는 벡터 채널 하나(robot0.action.joint_position); per-index 스칼라 채널을
+    # 원하면 key[0], key[1], … 를 직접 만들어 넣을 것.
+    sender.send(t_capture_us, {
+        "robot0": {
+            "observation": {"robot_state": {"joint_positions": [0.12, -0.34, 1.57], "gripper": 0.80}},
+            "action": {"joint_position": [0.13, -0.33, 1.55]},
+            "policy_action": [0.01, -0.02, 0.00],   # teleop이 몰면 None
+        },
+    })
+    wait_for_next_tick(control_hz)            # 네 루프의 rate control — send는 페이싱 안 함
+sender.disconnect()                           # 종료 시에만 (일시정지엔 금지)
+```
+
+알아두면 좋은 것:
+
+- **채널 이름은 네가 짓는다.** 중첩 dict을 보내면 SDK가 점-키(`robot0.observation...`)로
+  평탄화합니다. **첫 `send`가 레이아웃을 고정**하므로, 앞으로 보낼 모든 채널을 첫 프레임에
+  넣으세요 — 이번엔 값이 없는 채널은 `None`으로.
+- **녹화는 operator가 한다.** 너는 계속 스트리밍만, Loop가 지시받을 때 캡처합니다. `send`는
+  블로킹하지 않고 루프를 페이싱하지도 않습니다 — 케이던스는 네 루프 몫.
+- **Config 협상 (로봇이 여러 config로 열릴 수 있을 때).** 가능한 선택지를 `options`로 광고하면,
+  연결 시 Loop가 하나를 고르고 SDK가 그걸 — 네가 광고한 것에 대해 검증한 뒤 — `apply_config`로
+  적용합니다(예: 제어율). 협상할 게 없으면 `options`/`apply_config`를 빼면 됩니다. 첫 send
+  *전에* config를 확정하고 싶으면 `connect()` 뒤에 `sender.declare(channels)`를 한 번 호출하세요.
+
+## Loop 정책 실행
+
+스트리밍의 반대 방향: 추론 서버를 호출하는 대신, 배포의 policy-action 소스를 구독해 그 액션을
+실행합니다. [`examples/policy_action_consumer.py`](examples/policy_action_consumer.py) 참고.
+
+## 예제
+
+[`examples/`](examples/): `quickstart.py`(위 코드의 최소 버전) · `robot_step_producer.py`(전체
+dual-arm 생산자 + config 협상) · `policy_action_consumer.py`(정책 되읽기). 실행:
+`LOOP_ADDR=host:port python examples/<file>.py`.
+
+## 저수준
+
+`RobotStepSender`는 로봇 전용이고 의견이 강합니다. 채널별 메타(`role`/`unit`/`rot_type`)나
+비로봇 소스 종류(tactile, marker)가 필요하면 `loop_sdk.SourceProducer` / `SourceConsumer`를
+직접 쓰세요 — 고수준 sender가 그 위에 얹혀 있습니다. **개발·배포:** [`CONTRIBUTING.md`](CONTRIBUTING.md).
+내부 구조·스펙: [`docs/`](docs/).

{loop_sdk-0.1.0 → loop_sdk-0.1.2}/proto/loop/foundation/source/v1/source_ingest.proto

@@ -260,32 +260,26 @@ enum CameraPixelFormat {
 // compatibility-gate fields. proto3 has no `required`; the SDK and foundation
 // enforce presence of the required fields.
 message RobotConfig {
-  reserved 7, 8;
-  reserved "robot_server_version", "rci_version";
-
   int32 control_hz = 1;
   string action_space = 2;
   optional string gripper_type = 3;
   optional string finger_type = 4;
   optional string robot_type = 5;
   optional string robot_firmware_version = 6;
-  optional string teleoperation_version = 9;
+  optional string teleoperation_version = 7;
 }
 
 // Per-axis candidate lists a robot source advertises at Describe time. The
 // server picks one value per axis. control_hz and action_space must carry at
 // least one candidate; the rest may be empty (that axis is not negotiated).
 message RobotConfigOptions {
-  reserved 7, 8;
-  reserved "robot_server_version", "rci_version";
-
   repeated int32 control_hz = 1;
   repeated string action_space = 2;
   repeated string gripper_type = 3;
   repeated string finger_type = 4;
   repeated string robot_type = 5;
   repeated string robot_firmware_version = 6;
-  repeated string teleoperation_version = 9;
+  repeated string teleoperation_version = 7;
 }
 
 // ---------------------------------------------------------------------------

loop_sdk-0.1.2/src/loop_sdk/gen/v1/source_ingest_pb2.py

@@ -0,0 +1,112 @@
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(_runtime_version.Domain.PUBLIC, 7, 35, 1, '', 'v1/source_ingest.proto')
+_sym_db = _symbol_database.Default()
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x16v1/source_ingest.proto\x12\x19loop.foundation.source.v1"\xaa\x04\n\x0bClientEvent\x12\x1b\n\tclient_id\x18\x01 \x01(\tR\x08clientId\x12\x1d\n\ncommand_id\x18\x02 \x01(\tR\tcommandId\x12>\n\x05ready\x18\n \x01(\x0b2&.loop.foundation.source.v1.ClientReadyH\x00R\x05ready\x12Z\n\x11source_discovered\x18\x0b \x01(\x0b2+.loop.foundation.source.v1.SourceDiscoveredH\x00R\x10sourceDiscovered\x12Q\n\x0escan_completed\x18\x0c \x01(\x0b2(.loop.foundation.source.v1.ScanCompletedH\x00R\rscanCompleted\x12a\n\x14stream_state_changed\x18\r \x01(\x0b2-.loop.foundation.source.v1.StreamStateChangedH\x00R\x12streamStateChanged\x12D\n\theartbeat\x18\x0e \x01(\x0b2$.loop.foundation.source.v1.HeartbeatH\x00R\theartbeat\x12>\n\x05error\x18\x0f \x01(\x0b2&.loop.foundation.source.v1.ClientErrorH\x00R\x05errorB\x07\n\x05event"\xb9\x02\n\x0fRecorderCommand\x12\x1d\n\ncommand_id\x18\x01 \x01(\tR\tcommandId\x12A\n\x08describe\x18\n 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+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'v1.source_ingest_pb2', _globals)
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+    _globals['_RTSPTRANSPORT']._serialized_end = 7120
+    _globals['_CAMERAPIXELFORMAT']._serialized_start = 7123
+    _globals['_CAMERAPIXELFORMAT']._serialized_end = 7395
+    _globals['_CLIENTEVENT']._serialized_start = 54
+    _globals['_CLIENTEVENT']._serialized_end = 608
+    _globals['_RECORDERCOMMAND']._serialized_start = 611
+    _globals['_RECORDERCOMMAND']._serialized_end = 924
+    _globals['_CLIENTREADY']._serialized_start = 926
+    _globals['_CLIENTREADY']._serialized_end = 965
+    _globals['_DESCRIBE']._serialized_start = 967
+    _globals['_DESCRIBE']._serialized_end = 977
+    _globals['_OPENCOMMAND']._serialized_start = 980
+    _globals['_OPENCOMMAND']._serialized_end = 1376
+    _globals['_CLOSE']._serialized_start = 1378
+    _globals['_CLOSE']._serialized_end = 1472
+    _globals['_SHUTDOWN']._serialized_start = 1474
+    _globals['_SHUTDOWN']._serialized_end = 1508
+    _globals['_SCANCOMPLETED']._serialized_start = 1510
+    _globals['_SCANCOMPLETED']._serialized_end = 1632
+    _globals['_HEARTBEAT']._serialized_start = 1634
+    _globals['_HEARTBEAT']._serialized_end = 1680
+    _globals['_CLIENTERROR']._serialized_start = 1682
+    _globals['_CLIENTERROR']._serialized_end = 1770
+    _globals['_STREAMSTATECHANGED']._serialized_start = 1773
+    _globals['_STREAMSTATECHANGED']._serialized_end = 2014
+    _globals['_SOURCEDISCOVERED']._serialized_start = 2017
+    _globals['_SOURCEDISCOVERED']._serialized_end = 2426
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+    _globals['_TACTILESOURCEDESCRIPTOR']._serialized_end = 2534
+    _globals['_TACTILECHANNELDESCRIPTOR']._serialized_start = 2537
+    _globals['_TACTILECHANNELDESCRIPTOR']._serialized_end = 2675
+    _globals['_ROBOTSOURCEDESCRIPTOR']._serialized_start = 2678
+    _globals['_ROBOTSOURCEDESCRIPTOR']._serialized_end = 2872
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+    _globals['_MARKERSOURCEDESCRIPTOR']._serialized_end = 3162
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+    _globals['_RTSPCAMERAENDPOINT']._serialized_end = 3457
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+    _globals['_CAMERASETTING']._serialized_end = 3729
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+    _globals['_CAMERARESOLUTION']._serialized_end = 3795
+    _globals['_ROBOTCONFIG']._serialized_start = 3798
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+    _globals['_ROBOTCONFIGOPTIONS']._serialized_start = 4212
+    _globals['_ROBOTCONFIGOPTIONS']._serialized_end = 4504
+    _globals['_TACTILEOPENPARAMS']._serialized_start = 4506
+    _globals['_TACTILEOPENPARAMS']._serialized_end = 4525
+    _globals['_ROBOTOPENPARAMS']._serialized_start = 4527
+    _globals['_ROBOTOPENPARAMS']._serialized_end = 4627
+    _globals['_MARKEROPENPARAMS']._serialized_start = 4629
+    _globals['_MARKEROPENPARAMS']._serialized_end = 4647
+    _globals['_CAMERAOPENPARAMS']._serialized_start = 4649
+    _globals['_CAMERAOPENPARAMS']._serialized_end = 4754
+    _globals['_SAMPLEBATCH']._serialized_start = 4757
+    _globals['_SAMPLEBATCH']._serialized_end = 4891
+    _globals['_SAMPLE']._serialized_start = 4894
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+    _globals['_TACTILEPAYLOAD']._serialized_start = 5269
+    _globals['_TACTILEPAYLOAD']._serialized_end = 5362
+    _globals['_TACTILECHANNELSAMPLE']._serialized_start = 5364
+    _globals['_TACTILECHANNELSAMPLE']._serialized_end = 5453
+    _globals['_ROBOTPAYLOAD']._serialized_start = 5456
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+    _globals['_ROBOTPAYLOAD_STATEENTRY']._serialized_end = 5641
+    _globals['_ROBOTVALUE']._serialized_start = 5658
+    _globals['_ROBOTVALUE']._serialized_end = 5870
+    _globals['_DOUBLEARRAY']._serialized_start = 5872
+    _globals['_DOUBLEARRAY']._serialized_end = 5909
+    _globals['_POLICYACTIONPAYLOAD']._serialized_start = 5912
+    _globals['_POLICYACTIONPAYLOAD']._serialized_end = 6196
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+    _globals['_POLICYACTIONVECTOR']._serialized_end = 6242
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