lucen-device 0.3.0__tar.gz

lucen_device-0.3.0/LICENSE

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lucen_device-0.3.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: lucen-device
+Version: 0.3.0
+Summary: MouseMouse robot-side driver (`lucen-device`): runs only what a person approved, verified offline
+License-Expression: Apache-2.0
+License-File: LICENSE
+Requires-Dist: typer>=0.20
+Requires-Dist: lucen-cli>=0.1.0,<0.2
+Requires-Dist: lucen-sdk>=0.1.0,<0.2
+Requires-Dist: pyjwt[crypto]>=2.10
+Requires-Dist: cryptography>=42
+Requires-Dist: websockets>=14,<16
+Requires-Dist: msgpack>=1.0
+Requires-Dist: numpy>=2.0,<3
+Requires-Python: >=3.12
+Project-URL: Homepage, https://mousemouse.ai
+Project-URL: Documentation, https://mousemouse.ai/docs/connect-your-robot
+Project-URL: Repository, https://github.com/ICE-CUBA/lucen-hub
+Description-Content-Type: text/markdown
+
+# `lucen-device` — the robot side of the consent layer
+
+`lucen-device` runs on the robot's own computer. It holds two things the hub
+never sees — the device's Ed25519 private key and whatever the robot needs to
+start a policy — and acts only on approvals a **person** signed in the web app,
+which it verifies **offline** against the hub's published signing key.
+
+The hub's rule is that no API key of any scope can put a policy on a robot
+(`POST /v1/devices/{id}/approvals` is `session`-only). This package is how a
+policy gets there anyway: the hub records consent, the box does the handoff.
+
+## Install
+
+From PyPI, as a tool on the robot's own computer (`uv`, or `pipx install
+lucen-device`):
+
+```bash
+uv tool install lucen-device
+```
+
+`lucen-device` depends on `lucen-cli`, so the same install puts `lucen` on the
+`PATH` beside it (a robot box runs `lucen pull` anyway). A MouseMouse hub also
+serves its own copy of these wheels: `curl -fsSL <hub API>/install.sh | sh -s --
+device` installs the version built from the hub's own commit and points the
+driver at that hub; see the hub's docs page *Connect your robot*.
+
+## Pair (K1) — no person's key on the robot
+
+```
+lucen-device pair K7QF-2M9D --hub https://hub.example/api   # a code a person issued on the hub
+lucen-device pair --hub https://hub.example/api             # no code: the box asks for one and shows it
+```
+
+The box generates its Ed25519 key, declares itself (adapter and provenance,
+fail-safe probe, any `--accept` contracts) and prints its **key fingerprint**.
+A signed-in person opens the pairing on the hub, compares that fingerprint,
+picks the trust mode and confirms ("Not my robot" drops it; an unconfirmed
+claim expires with the code, ten minutes). The box then collects — signing with
+its key — a **device credential** that acts only as this device, the hub's
+signing key and the robot card's interface, all pinned in `device.json`. The
+owner revokes the credential from the hub (disconnect); every later call is
+`401`, and a running policy stops.
+
+**Trust mode.** `registered` (default) runs only the IO contracts this box
+registered. `approved` also runs a contract it never registered when a signed
+approval names it **and** the policy's `embodiment_fingerprint` equals the
+interface fingerprint this box pinned; an **unstamped** policy additionally
+needs the approver's acknowledgment in the token and a contract that fits the
+pinned interface (joint order, control rate, one action per joint), which the
+box checks itself. The person chooses it at
+confirmation; afterwards only the box changes it: `lucen-device trust approved`.
+
+## Credentials
+
+A paired box uses its own device credential (in `device.json`, mode 0600). A
+box set up with `register` uses the `lucen` CLI's: `lucen auth login` on the box
+(a `write` key for the device's owner — it registers and posts telemetry, and
+by contract it cannot approve anything), or `LUCEN_API_KEY` / `LUCEN_API_URL` in
+the environment. No flag takes a key.
+
+The driver's own state lives in `$LUCEN_DEVICE_CONFIG_DIR` (default
+`~/.config/lucen-device`): `device.json` (the registration and the hub signing
+key pinned at registration), `device_key.pem` (mode 0600, refused if looser) and
+`models/<approval id>/` (each pulled repo).
+
+## Register
+
+```
+lucen-device register --robot lucen/laika --name lab-laika --adapter virtual \
+    --accept-from ./omni/omni_c4_ff800.onnx        # and/or --accept <fingerprint>
+```
+
+Registration generates the keypair, fetches and **pins** the hub's signing key
+(`kid` + PEM + issuer), and tells the hub which IO contracts this box will run —
+as fingerprints (`sha256` of a stamped ONNX manifest's canonical `contract`
+block). `--accept-from` reads one out of a policy file; a device that accepts
+no contract cannot be registered, because it could never be handed anything.
+If the hub signs with an ephemeral key (no `DEVICE_APPROVAL_SIGNING_KEY`), the
+command warns you: approvals will stop verifying when the hub restarts, and
+`lucen-device signing-key --refresh` re-pins.
+
+## Serve
+
+```
+lucen-device serve            # poll every 10 s, forever
+lucen-device serve --once     # handle what is issued now, then exit
+```
+
+For every approval the hub lists as `issued` for this device:
+
+1. **verify the token offline** — `alg` is `EdDSA`, `kid` is the pinned one,
+   the signature holds, `exp`/`nbf`/`iat` hold (10 s leeway), `aud` is
+   `lucen-device`, `iss` is the pinned issuer, `sub` is this device;
+2. cross-check the listing against the signature (id and digest);
+3. **pull the model repo** with `lucen pull`'s code (every file digest-checked),
+   then compare the ONNX to the digest **inside the token**;
+4. read the ONNX's own `lucen_manifest` and **refuse a contract this box did not
+   register** (or one that differs from what the hub pre-checked);
+5. load the ONE adapter this box registered, check the embodiment, pass it the
+   robot card's safe stop, walk its staged start;
+6. start the adapter, post `started`, heartbeat every `heartbeat_s` seconds
+   (2 s by default; `--heartbeat` overrides it), stop at `expires_at` on this
+   box's clock (or at `--max-run-seconds`, a local cap), post `stopped`;
+7. **stop when the link is lost.** A heartbeat the hub does not acknowledge
+   within the interval is a miss and a warning. `link_lost_heartbeats` misses
+   in a row (5 by default, about ten seconds) are link loss: the adapter is
+   held (`hold()`, when it has one) and then stopped, in the same order a
+   person's Stop uses, and the approval is over on the robot's side. Nothing
+   restarts the policy. The signed `stopped` (reason `link_lost`, with the
+   misses it counted and `stop_sequence`) waits in the outbox and is posted
+   when the link returns; `serve --once` waits up to a minute for that, then
+   exits and warns. The rule counts answers, never clocks, so clock skew
+   cannot fire it. Both numbers live in `device.json` (`heartbeat_s`,
+   `link_lost_heartbeats`).
+
+The trail says `verified` (step 1) and `pulled` (step 3) before `started`. A
+person's **Stop** arrives on a heartbeat's answer: the adapter is held
+(`hold()`, when it has one) and then stopped at once, in M17d's fail-safe
+order, and `stopped` says `stop_requested` with `stop_sequence: [hold, stop]`,
+within one heartbeat plus a round trip. Only a signed-in person can press it;
+no API key can. A robot that cannot reach the hub does not wait for the Stop:
+it stops the policy itself about ten seconds after it loses the hub (step 7).
+Stop is a convenience over the network, not a safety system: keep a hardware
+emergency stop within reach.
+
+Every refusal is posted back as a signed `refused` event with a machine reason
+(`bad_signature`, `unknown_kid`, `expired`, `wrong_device`, `digest_mismatch`,
+`unstamped`, `contract_mismatch`, `adapter_refused`, …) so the person who
+approved can read why nothing happened. Every event is signed with the device
+key; the hub verifies it against the key you registered.
+
+## Adapters
+
+**Adapters are plugins (M17d).** The adapter is the only part of the driver that
+knows a robot: it takes a verified policy (or a fresh action chunk) and makes
+the robot do it. Three ship here; any other robot installs its own — see
+`examples/device-adapter/` (141 lines, a fake robot, both protocols) and the
+docs page `/docs/connect-your-robot`.
+
+```
+lucen-device adapters                      # what is installed — reads metadata, imports nothing
+lucen-device adapters --check example-arm  # import ONE, list its protocols, probe its fail-safe
+```
+
+An adapter is a class registered in the entry-point group
+`lucen_device.adapters` by an installed distribution (the built-ins register
+through the same group), or named directly for unpackaged code:
+`--adapter my_robot.adapter:MyArm` / `--adapter ./my_arm.py:MyArm`.
+**Loading one is code execution on the robot box.** So: the operator names it
+at `register` and the driver loads that one and no other; listing never
+imports; a name two distributions claim — a third party registering `virtual`
+included — is refused; `serve` refuses (`adapter_changed`) when the registered
+name now resolves to a different distribution or class; and the distribution,
+version and class go into the device's `adapter_info` on the hub and into every
+signed `started` event.
+
+| Protocol | Methods | |
+|---|---|---|
+| `policy` | `start / stop / status / is_running` | run the approved file on the robot |
+| `chunks` | `begin / observe / apply / hold / resume / stop / status / is_running` | consume a hub endpoint |
+| `staged_start` (optional) | `stage(name, interface)` | `"safe"`, then `"default_pose"`, before the policy |
+| `safe_stop` (optional) | `set_safe_stop(mode)` | the robot card's `safety.safe_stop` decides what hold / stop mean |
+
+- **`virtual`** — every protocol. Validates the manifest and runs a clock at the
+  policy's control rate for the approved window. It simulates **nothing**: no
+  inference (the ONNX is never loaded), no physics, no actuators. It exists so
+  the whole consent path runs in CI on a laptop, and every heartbeat says so.
+- **`command`** — `policy` only: shells out to the box's own start/stop/status
+  commands, from `device.json` `adapter_config` (`register --adapter-config
+  FILE.json`) or `LUCEN_DEVICE_START_CMD` / `LUCEN_DEVICE_STOP_CMD` /
+  `LUCEN_DEVICE_STATUS_CMD`, **never from the hub**. Placeholders:
+  `{model_path}`, `{manifest_path}`, `{interface_path}`, `{seconds}`,
+  `{approval_id}`, `{safe_stop}`; a shell string or a JSON list; an unknown
+  placeholder is refused before anything starts. **Stop**: `stop_cmd` first
+  (30 s cap), then `SIGTERM` to the start command's whole process group (it
+  runs in its own session, so a runner forked by `sh -c` is reached), then
+  `SIGKILL` after 10 s. **Unverified on hardware** — there is no robot here;
+  the plumbing is tested with a shell command standing in for the runner.
+- **`lucen-legged`** — the deprecated alias of `command` (M13's name for it;
+  there was never anything legged in it). Existing registrations keep serving.
+
+**The robot card's interface, on the box.** `register` pins the robot card's
+embodiment `interface` and `interface_fingerprint` (refresh on purpose:
+`lucen-device interface --refresh`). `safety.safe_stop` reaches
+`set_safe_stop()` — and if the card asks for something other than `hold` and
+the adapter has no such hook, nothing starts; `default_pose` reaches the staged
+start; a policy stamped with a different `embodiment_fingerprint` is refused
+(`embodiment_mismatch`), and when either side is silent the `started` event
+records the check as **not made**.
+
+## Other commands
+
+```
+lucen-device status                 # registration, adapter provenance, issued approvals, last events
+lucen-device trust [MODE]           # show the trust mode, or change it (the box's call alone, signed)
+lucen-device signing-key [--refresh] # the pinned hub key; --refresh re-pins it
+lucen-device interface [--refresh]   # the pinned robot-card interface fingerprint
+lucen-device version
+```
+
+
+## Consuming a hub endpoint (M15)
+
+An approval may name an **endpoint** instead of a file to run: "let this
+device consume hub endpoint X" — a skill-layer model (action chunks at 1–10 Hz)
+served by `lucen serve` on a GPU box. The driver then does not pull the model.
+It opens a session on the hub with the approval token (`POST
+/v1/endpoints/{id}/sessions`), checks that the hub's and the server's
+`model_sha256` are the digest inside the token and that the served contract is
+one this box registered, connects over openpi's protocol with the session token
+as the `Api-Key` header, and runs the loop at the contract's control rate.
+
+**The fail-safe is local and mandatory.** One chunk period is the deadline; a
+chunk that arrives late is dropped, never applied; two consecutive misses or a
+dropped link call the adapter's `hold()` (freeze a safe posture, or the
+adapter's own stop), post `degraded`, and reconnect until the window ends; when
+chunks flow again the adapter `resume()`s and `recovered` is posted. Only an
+adapter that implements `begin / observe / apply / hold / resume / stop` **and
+whose `hold()` then `stop()` run clean on a fresh instance** may consume an
+endpoint: `register` establishes `endpoint_capable` from the adapter's own code
+and that probe — never from a list of names (`virtual` and the example yes,
+`command` no) — and the hub refuses a request naming an endpoint on any other
+device. `hold()` and `stop()` must therefore work in any state and never raise.
+The loop does not trust them anyway: a `hold()` that raises or does not return
+within a second is answered with `stop()`, a `degraded` event saying
+`hold_failed`, and the end of the run; an exception out of `observe()` /
+`apply()` holds and ends it; and a watchdog thread holds and stops a loop that
+has made no progress for ten seconds (a coarse backstop, not a real-time
+guarantee — the robot's own controller must also stop when commands stop). A queued endpoint or an unreachable server is
+*deferred* (the approval stays issued; the next poll tries again), not refused.
+
+The device reports its own metering — chunks applied, round-trip p50/p95,
+deadline misses, how often it held — to the session on the hub every heartbeat;
+the endpoint page shows it beside the server's numbers.
+
+Apache-2.0. © 2026 Lucen Robotics.