opencastor 3.0.0__tar.gz

opencastor-3.0.0/LICENSE

@@ -0,0 +1,189 @@
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opencastor-3.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: opencastor
+Version: 3.0.0
+Summary: The Universal Runtime for Embodied AI
+Author-email: OpenCastor Contributors <hello@opencastor.com>
+License-Expression: Apache-2.0
+Project-URL: Homepage, https://opencastor.com
+Project-URL: Repository, https://github.com/craigm26/OpenCastor
+Project-URL: Documentation, https://docs.opencastor.com
+Project-URL: Bug Tracker, https://github.com/craigm26/OpenCastor/issues
+Project-URL: Changelog, https://github.com/craigm26/OpenCastor/blob/main/CHANGELOG.md
+Project-URL: Discord, https://discord.gg/jMjA8B26Bq
+Keywords: robotics,ai,llm,embodied-ai,rcan
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: Microsoft :: Windows
+Classifier: Environment :: Console
+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: Topic :: System :: Hardware
+Requires-Python: <3.14,>=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: anthropic>=0.40.0
+Requires-Dist: openai>=1.0.0
+Requires-Dist: pyserial>=3.5
+Requires-Dist: opencv-python-headless>=4.9.0
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+Requires-Dist: rcan<4,>=3.3
+Provides-Extra: core
+Provides-Extra: rpi
+Requires-Dist: adafruit-circuitpython-pca9685>=3.4.0; sys_platform == "linux" and extra == "rpi"
+Requires-Dist: adafruit-circuitpython-motor>=3.4.0; sys_platform == "linux" and extra == "rpi"
+Requires-Dist: neonize==0.3.16.post0; extra == "rpi"
+Requires-Dist: picamera2>=0.3; sys_platform == "linux" and extra == "rpi"
+Provides-Extra: elevenlabs
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+Provides-Extra: discord
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+Provides-Extra: all
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+Provides-Extra: dev
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+Requires-Dist: cyclonedx-bom>=4.0; extra == "dev"
+Requires-Dist: respx>=0.21; extra == "dev"
+Dynamic: license-file
+
+<p align="center">
+  <img src="brand/icon-192.png" alt="OpenCastor" width="200"/>
+</p>
+
+<h1 align="center">OpenCastor</h1>
+
+<p align="center">
+  Open-source robot runtime — connect any AI model to any robot hardware through a single YAML config.
+</p>
+
+<p align="center">
+  <a href="https://pypi.org/project/opencastor/"><img src="https://img.shields.io/pypi/v/opencastor?color=blue&label=PyPI" alt="PyPI"></a>
+  <a href="https://rcan.dev/spec/"><img src="https://img.shields.io/badge/RCAN-v3.0-brightgreen" alt="RCAN v3.0"></a>
+  <a href="https://rcan.dev/docs/safety/"><img src="https://img.shields.io/badge/Protocol%2066-94%25-orange" alt="Protocol 66"></a>
+  <a href="https://github.com/craigm26/OpenCastor/blob/main/LICENSE"><img src="https://img.shields.io/badge/license-Apache%202.0-green" alt="License"></a>
+  <a href="https://github.com/craigm26/OpenCastor/actions"><img src="https://img.shields.io/github/actions/workflow/status/craigm26/OpenCastor/ci.yml?label=CI" alt="CI"></a>
+  <a href="https://app.opencastor.com"><img src="https://img.shields.io/badge/Fleet%20UI-app.opencastor.com-orange" alt="Fleet UI"></a>
+  <a href="https://docs.opencastor.com"><img src="https://img.shields.io/badge/Docs-docs.opencastor.com-00bcd4" alt="Docs"></a>
+  <a href="https://discord.gg/jMjA8B26Bq"><img src="https://img.shields.io/badge/Discord-join-5865F2?logo=discord&logoColor=white" alt="Discord"></a>
+</p>
+
+<p align="center">
+  <b>94,438 lines of Python · 7,334 tests · Python 3.10–3.13</b>
+</p>
+
+---
+
+## What is OpenCastor
+
+OpenCastor is an open-source runtime for embodied AI. It implements the [RCAN open protocol](https://rcan.dev/spec/) and handles the hard parts: safety gates, multi-provider AI routing, hardware drivers, messaging channels, and fleet management.
+
+Point it at any LLM (Gemini, GPT-4.1, Claude, Ollama, and 13 more) and any robot body (Raspberry Pi, Jetson, Arduino, ESP32, LEGO) via a single YAML config. Your robot answers to WhatsApp, Telegram, Discord, Slack, and Home Assistant — and learns from its own experience through the Sisyphus self-improvement loop.
+
+> **RCAN ≠ OpenCastor.** [RCAN](https://rcan.dev) is an independent open protocol — like DNS and ICANN, but for robotics. Any robot can implement RCAN without using OpenCastor. OpenCastor is one implementation that helped inform the spec.
+
+## Quick Start
+
+### 1. Install
+
+```bash
+pip install opencastor==2026.4.1.0
+```
+
+### 2. Run the setup wizard
+
+```bash
+castor setup
+```
+
+The wizard will:
+- Name your robot and assign an RRN (Robot Registration Number)
+- Generate a config file at `~/.config/opencastor/<name>.rcan.yaml`
+- Show a QR code to connect to the Fleet UI at [app.opencastor.com](https://app.opencastor.com)
+- Configure your AI brain provider (Gemini, Claude, OpenAI, or local Ollama)
+
+### 3. Start your robot
+
+```bash
+# Start the AI brain + REST API (port 8000)
+castor gateway --config ~/.config/opencastor/bob.rcan.yaml
+
+# Start the cloud bridge (connects robot to Fleet UI — outbound-only)
+castor bridge --config ~/.config/opencastor/bob.rcan.yaml
+```
+
+### 4. One-command systemd setup
+
+```bash
+castor bridge setup   # generates and optionally installs systemd services
+```
+
+### Docker
+
+```bash
+docker run -it \
+  -v ~/.config/opencastor:/config \
+  -e OPENCASTOR_CONFIG=/config/bob.rcan.yaml \
+  ghcr.io/craigm26/opencastor:2026.4.1.0 \
+  castor gateway
+```
+
+
+<!-- SETUP_CATALOG:BEGIN -->
+| Profile | Description | Requires |
+|---|---|---|
+| `apple_native` | Mac with Apple Silicon (M1–M4) — runs models on-device via Apple Foundation Models. No API key needed. | macOS, Apple Silicon |
+| `mlx_local_vision` | Mac with Apple Silicon — open-source models via MLX (Llama, Mistral, Qwen). More model choice than apple_native. | macOS, Apple Silicon |
+| `ollama_universal_local` | Any machine — runs local models via Ollama. Works on Mac, Linux, and Windows. | [Ollama](https://ollama.com) installed |
+
+**On Apple Silicon, `apple_native` is the default.** The wizard will ask which Apple model profile fits your use case:
+
+| Apple Profile | Use case | Guardrails |
+|---|---|---|
+| `apple-balanced` ⭐ | General chat and robot commands — best starting point | Default |
+| `apple-creative` | Creative tasks, less restrictive output | Permissive Content Transformations |
+| `apple-tagging` | Classifying or labeling objects/scenes | Default |
+<!-- SETUP_CATALOG:END -->
+
+## Features
+
+- **Protocol 66 safety** — ESTOP never blocked, local safety always wins, confidence gates run on-device
+- **RCAN 3.0** — hybrid signing (ML-DSA-65 + Ed25519), mandatory LoA, canonical JSON wire format, §22-26 compliance builders, BLE/LoRa/MQTT carriers
+- **Multi-provider AI** — Gemini, Claude, OpenAI, Ollama, MLX (Apple Silicon), Groq, DeepSeek, and 7 more; hot-swap via YAML
+- **Fleet UI** — real-time fleet dashboard at [app.opencastor.com](https://app.opencastor.com); no port forwarding needed
+- **SO-ARM101 arm support** — auto-detected via USB, guided setup for follower/leader/bimanual configurations
+- **18 hardware presets** — Raspberry Pi, Jetson, Arduino, ESP32, LEGO Mindstorms, OAK-D, LeRobot SO-ARM101, and more
+- **Self-improving loop** — Sisyphus PM→Dev→QA→Apply pipeline learns from every episode
+- **Messaging channels** — WhatsApp, Telegram, Discord, Slack, Home Assistant, MQTT
+- **castor setup wizard** — guided onboarding with QR codes; works headless on Pi
+
+## Architecture
+
+```
+[ app.opencastor.com / Fleet UI ]
+          │  Firebase / Firestore
+          │
+   [ Cloud Functions ]            R2RAM enforcement + rate limiting
+          │
+   [ castor bridge ]              outbound-only Firestore connection
+          │
+   [ castor gateway ]             FastAPI REST + messaging channels
+          │
+   ┌──────────────────────┐
+   │   Protocol 66 Safety │       ESTOP | confidence gates | bounds
+   └──────────────────────┘
+          │
+   [ Tiered Brain ]               Gemini / Claude / GPT / Ollama / …
+          │
+   [ RCAN Config + Drivers ]      .rcan.yaml → hardware abstraction
+          │
+   [ Robot Hardware ]             Pi / Jetson / Arduino / SO-ARM101 / …
+```
+
+## RCAN 3.0 Features
+
+- **Replay prevention** — hybrid signatures (ML-DSA-65 + Ed25519) over canonical JSON bodies
+- **Level of Assurance (LoA)** — mandatory under 3.0+; gates control-plane operations behind HiTL authorization
+- **Canonical JSON wire format** — `rcan.canonical_json(body)` produces byte-identical serialization across Python and TypeScript SDKs
+- **§22-26 compliance artifacts** — emit §23 safety benchmarks, §24 IFU, §25 post-market incident reports, §26 EU register entries via `rcan.build_*` builders
+- **Federation + constrained transport** — BLE / LoRa / MQTT carriers; RRN-based identity resolution via rcan.dev
+- **Post-quantum ready** — NIST FIPS 204 ML-DSA-65 is the primary signing scheme (Q-Day 2029 is NOW)
+
+## castor CLI Reference
+
+| Command | Description |
+|---|---|
+| `castor setup` | Interactive onboarding wizard — config, RRN, Fleet UI QR code |
+| `castor gateway` | Start AI brain + REST API + messaging channels |
+| `castor bridge` | Start cloud bridge (Fleet UI connection) |
+| `castor scan` | Auto-detect connected hardware (USB, I2C, V4L2) |
+| `castor doctor` | System health check — providers, channels, hardware |
+| `castor fix` | Auto-fix common configuration issues |
+| `castor status` | Provider and channel readiness summary |
+| `castor improve` | Run Sisyphus self-improvement on recent episodes |
+| `castor audit --verify` | Verify audit chain integrity |
+| `castor approvals` | Review and approve pending high-risk commands |
+| `castor deploy` | Push config to a remote robot over SSH |
+| `castor fleet` | Discover and monitor all robots on the local network |
+| `castor upgrade` | Pull latest version + pip install + service restart |
+
+Full reference: [docs.opencastor.com/runtime/cli](https://docs.opencastor.com/runtime/cli/)
+
+## Configuration
+
+Minimal `bob.rcan.yaml`:
+
+```yaml
+rcan_version: "3.0"
+metadata:
+  robot_name: bob
+agent:
+  provider: google
+  model: gemini-2.5-flash
+drivers:
+  - id: wheels
+    protocol: pca9685
+channels: {}
+```
+
+That's it. `castor gateway --config bob.rcan.yaml` starts the REST API, messaging channels, and the self-improving loop.
+
+Swap the AI brain with one line:
+
+```yaml
+agent:
+  provider: anthropic
+  model: claude-sonnet-4-6
+```
+
+## Protocol 66
+
+Protocol 66 is RCAN's mandatory safety layer. Current OpenCastor conformance: **94%**.
+
+Key invariants:
+- ESTOP delivered at QoS 2 (EXACTLY_ONCE) — never blocked by backpressure
+- Local safety always wins — cloud commands pass through the same confidence gates as local commands
+- Audit chain required for all flagged commands
+- `GuardianAgent` has veto authority over unsafe actions
+
+P66 manifest: [`sbom/`](sbom/) · Full spec: [rcan.dev/docs/safety/](https://rcan.dev/docs/safety/)
+
+## Fleet UI
+
+**[app.opencastor.com](https://app.opencastor.com)** — sign in with Google to see your fleet.
+
+- Real-time status cards for all registered robots
+- Robot detail: telemetry, command history, chat-scope instructions
+- ESTOP button on every screen
+- Consent management — approve/deny R2RAM access requests
+- Revocation display — shows if a robot's identity has been revoked
+- LoA display — shows operator Level of Assurance on control commands
+
+Robots connect via `castor bridge` (outbound-only Firestore). No open ports on the robot side.
+
+## SO-ARM101 Arm Support
+
+The LeRobot SO-ARM101 6-DOF serial bus servo arm is auto-detected via USB VID/PID (CH340, `0x1A86/0x7523`).
+
+```bash
+pip install opencastor[lerobot]
+castor scan                          # detects arm + suggests preset
+castor wizard --preset so_arm101     # guided config: follower / leader / bimanual
+castor gateway --config so_arm101.rcan.yaml
+```
+
+`castor scan` counts connected Feetech boards and automatically suggests the right preset: single arm (follower or leader), or bimanual pair (ALOHA-style). Koch arms use the same detection path.
+
+## Where this fits in the stack
+
+OpenCastor is the **reference runtime** — one implementation of the RCAN protocol. Everything else is independent; adopt one, or all seven.
+
+| Layer | Piece | What it is |
+|---|---|---|
+| **Declaration** | [ROBOT.md](https://github.com/RobotRegistryFoundation/robot-md) | The file a robot ships at its root. YAML frontmatter + markdown prose. Declares identity, capabilities, safety gates. Spec + Python CLI. |
+| **Agent bridge** | [robot-md-mcp](https://github.com/RobotRegistryFoundation/robot-md-mcp) | MCP server that exposes a `ROBOT.md` to Claude Code, Claude Desktop, Cursor, Zed, Gemini CLI — any MCP-aware agent. |
+| **Wire protocol** | [RCAN](https://rcan.dev/spec/) | How robots, gateways, and planners talk. Signed envelopes, LoA enforcement, PQC crypto. Think HTTP for robots. |
+| **Python SDK** | [rcan-py](https://github.com/continuonai/rcan-py) | `pip install rcan` — `RCANMessage`, `RobotURI`, `ConfidenceGate`, `HiTLGate`, `AuditChain`. |
+| **TypeScript SDK** | [rcan-ts](https://github.com/continuonai/rcan-ts) | `npm install rcan-ts` — same API surface for Node + browser. |
+| **Registry** | [Robot Registry Foundation](https://robotregistryfoundation.org) | Permanent RRN identities. Public resolver at `/r/<rrn>`. Like ICANN for robots. |
+| **Reference runtime** ← *this* | [OpenCastor](https://github.com/craigm26/OpenCastor) | **This repo.** Open-source robot runtime — connects LLM brains to hardware bodies. Implements RCAN, adds safety gates, multi-provider AI routing, 18+ hardware drivers, messaging channels, fleet management. |
+
+See also: the [`ROBOT.md` quickstart](docs/robot-md-claude-code.md) — one command puts a Bob-class robot in Claude Code via the MCP bridge.
+
+## Ecosystem (versions)
+
+| Project | Version |
+|---|---|
+| **OpenCastor** (this) | v2026.4.17.0 |
+| [Fleet UI](https://app.opencastor.com) | live |
+| [RCAN Protocol](https://rcan.dev/spec/) | v3.0 |
+| [rcan-py](https://github.com/continuonai/rcan-py) | v2.0.0 |
+| [rcan-ts](https://github.com/continuonai/rcan-ts) | v2.0.0 |
+| [ROBOT.md](https://github.com/RobotRegistryFoundation/robot-md) | v0.2.0 (schema v1.1) |
+| [robot-md-mcp](https://github.com/RobotRegistryFoundation/robot-md-mcp) | v0.1.3 |
+| [Robot Registry Foundation](https://robotregistryfoundation.org) | v3.0 |
+
+## Contributing
+
+OpenCastor is Apache 2.0 and community-driven.
+
+- **Discord**: [discord.gg/jMjA8B26Bq](https://discord.gg/jMjA8B26Bq)
+- **Issues**: [github.com/craigm26/OpenCastor/issues](https://github.com/craigm26/OpenCastor/issues)
+- **PRs**: See [CONTRIBUTING.md](CONTRIBUTING.md)
+- **Docs**: [`docs/claude/`](docs/claude/) — structure, API reference, env vars
+
+## License
+
+Apache 2.0 · by [Craig Merry](https://github.com/craigm26)
+
+Implements the [RCAN open protocol](https://rcan.dev/spec/). RCAN is an independent open standard — any robot or runtime can implement it.