physicalai-stararm-plugin 0.1.0__tar.gz

physicalai_stararm_plugin-0.1.0/.gitignore

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physicalai_stararm_plugin-0.1.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: physicalai-stararm-plugin
+Version: 0.1.0
+Summary: Fashion Star Arm 102 plugin (LD/HD leaders + FL follower) for PhysicalAI
+Project-URL: Homepage, https://github.com/MarkRedeman/physicalai-plugins
+Project-URL: Repository, https://github.com/MarkRedeman/physicalai-plugins
+Project-URL: Issues, https://github.com/MarkRedeman/physicalai-plugins/issues
+License-Expression: Apache-2.0
+Requires-Python: >=3.12
+Requires-Dist: loguru>=0.7
+Requires-Dist: motorbridge-smart-servo>=0.0.4
+Requires-Dist: numpy>=1.24
+Requires-Dist: physicalai-studio-plugin
+Requires-Dist: physicalai>=0.1.1
+Requires-Dist: pydantic>=2.0
+Provides-Extra: tests
+Requires-Dist: pytest; extra == 'tests'
+Description-Content-Type: text/markdown
+
+# PhysicalAI Star Arm Plugin
+
+Fashion Star Star Arm 102 plugin for [PhysicalAI](https://github.com/openvinotoolkit/physicalai). This package provides Star Arm 102-LD/102-HD leaders and a Star Arm 102-FL follower, and registers all variants with [Physical AI Studio](https://github.com/open-edge-platform/physical-ai-studio).
+
+[![PyPI version](https://img.shields.io/pypi/v/physicalai-stararm-plugin.svg)](https://pypi.org/project/physicalai-stararm-plugin/)
+[![Python versions](https://img.shields.io/pypi/pyversions/physicalai-stararm-plugin.svg)](https://pypi.org/project/physicalai-stararm-plugin/)
+
+## Features
+
+- Star Arm 102-LD leader driver (`StarArm102LDLeader`) for read-only teleoperation input
+- Star Arm 102-HD leader driver (`StarArm102HDLeader`) with passive mode (default) and optional assist mode for hold/action commands
+- Star Arm 102-FL follower driver (`StarArm102FLFollower`) for position control
+- Studio catalog plugin entries for LD leader, HD leader, and FL follower
+- Bundled `stararm102` URDF package
+
+## Installation
+
+```bash
+uv add physicalai-stararm-plugin
+```
+
+## Quick start
+
+```python
+from physicalai.robot import connect
+from physicalai_stararm_plugin import StarArm102FLFollower
+
+robot = StarArm102FLFollower(port="/dev/ttyUSB1", baudrate=1_000_000)
+
+with connect(robot) as arm:
+    obs = arm.get_observation()
+    arm.send_action(obs.joint_positions)
+```
+
+## Run with the PhysicalAI CLI
+
+```bash
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/teleop-hd-to-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/teleop-ld-to-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-hd.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-ld.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/move-joints-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/hold-hd.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/policy-follow-hd.yaml
+```
+
+## URDF
+
+```python
+from physicalai_stararm_plugin import get_urdf_path
+
+urdf_dir = get_urdf_path()
+star_urdf = urdf_dir / "stararm102" / "urdf" / "stararm102_description.urdf"
+```
+
+## Development
+
+```bash
+uv sync
+uv run pytest packages/physicalai-stararm-plugin/tests/
+```

physicalai_stararm_plugin-0.1.0/README.md

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+# PhysicalAI Star Arm Plugin
+
+Fashion Star Star Arm 102 plugin for [PhysicalAI](https://github.com/openvinotoolkit/physicalai). This package provides Star Arm 102-LD/102-HD leaders and a Star Arm 102-FL follower, and registers all variants with [Physical AI Studio](https://github.com/open-edge-platform/physical-ai-studio).
+
+[![PyPI version](https://img.shields.io/pypi/v/physicalai-stararm-plugin.svg)](https://pypi.org/project/physicalai-stararm-plugin/)
+[![Python versions](https://img.shields.io/pypi/pyversions/physicalai-stararm-plugin.svg)](https://pypi.org/project/physicalai-stararm-plugin/)
+
+## Features
+
+- Star Arm 102-LD leader driver (`StarArm102LDLeader`) for read-only teleoperation input
+- Star Arm 102-HD leader driver (`StarArm102HDLeader`) with passive mode (default) and optional assist mode for hold/action commands
+- Star Arm 102-FL follower driver (`StarArm102FLFollower`) for position control
+- Studio catalog plugin entries for LD leader, HD leader, and FL follower
+- Bundled `stararm102` URDF package
+
+## Installation
+
+```bash
+uv add physicalai-stararm-plugin
+```
+
+## Quick start
+
+```python
+from physicalai.robot import connect
+from physicalai_stararm_plugin import StarArm102FLFollower
+
+robot = StarArm102FLFollower(port="/dev/ttyUSB1", baudrate=1_000_000)
+
+with connect(robot) as arm:
+    obs = arm.get_observation()
+    arm.send_action(obs.joint_positions)
+```
+
+## Run with the PhysicalAI CLI
+
+```bash
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/teleop-hd-to-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/teleop-ld-to-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-hd.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-ld.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/read-joints-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/move-joints-fl.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/hold-hd.yaml
+uv run physicalai run --config packages/physicalai-stararm-plugin/examples/runtime/policy-follow-hd.yaml
+```
+
+## URDF
+
+```python
+from physicalai_stararm_plugin import get_urdf_path
+
+urdf_dir = get_urdf_path()
+star_urdf = urdf_dir / "stararm102" / "urdf" / "stararm102_description.urdf"
+```
+
+## Development
+
+```bash
+uv sync
+uv run pytest packages/physicalai-stararm-plugin/tests/
+```

physicalai_stararm_plugin-0.1.0/pyproject.toml

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+[build-system]
+requires = ["hatchling<1.30", "hatch-vcs"]  # cap <1.30: hatchling>=1.30 emits Metadata 2.5, rejected by PyPI/twine (pypi/warehouse#19083)
+build-backend = "hatchling.build"
+
+[project]
+name = "physicalai-stararm-plugin"
+#dynamic = ["0.1.0"]
+version = "0.1.0"
+description = "Fashion Star Arm 102 plugin (LD/HD leaders + FL follower) for PhysicalAI"
+readme = "README.md"
+requires-python = ">=3.12"
+license = "Apache-2.0"
+dependencies = [
+    "physicalai>=0.1.1",
+    "physicalai-studio-plugin",
+    "numpy>=1.24",
+    "loguru>=0.7",
+    "motorbridge-smart-servo>=0.0.4",
+    "pydantic>=2.0",
+]
+
+[project.optional-dependencies]
+tests = ["pytest"]
+
+[project.urls]
+Homepage = "https://github.com/MarkRedeman/physicalai-plugins"
+Repository = "https://github.com/MarkRedeman/physicalai-plugins"
+Issues = "https://github.com/MarkRedeman/physicalai-plugins/issues"
+
+[project.entry-points."physicalai.studio.catalog_plugins"]
+stararm-102 = "physicalai_stararm_plugin.studio_catalog:register_physicalai_studio_plugin"
+
+[tool.hatch.version]
+source = "vcs"
+tag-pattern = '^physicalai-stararm-plugin-v(?P<version>\d+(?:\.\d+)*)$'
+raw-options = { search_parent_directories = true, git_describe_command = "git describe --dirty --tags --long --match physicalai-stararm-plugin-v*" }
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/physicalai_stararm_plugin"]
+
+[tool.hatch.build.targets.wheel.force-include]
+"urdf" = "urdf"
+
+[tool.hatch.build.targets.sdist]
+include = [
+    "src/physicalai_stararm_plugin/**",
+    "urdf/**",
+    "README.md",
+    "pyproject.toml",
+    "LICENSE",
+]
+exclude = [
+    "examples/**",
+]

physicalai_stararm_plugin-0.1.0/src/physicalai_stararm_plugin/__init__.py

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+# ruff: noqa: PLC0415
+
+"""Star Arm 102 plugin for PhysicalAI.
+
+Provides Star Arm 102-LD/102-HD leader drivers and a Star Arm 102-FL follower
+driver compatible with the ``physicalai.robot.Robot`` protocol.
+"""
+
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from physicalai_stararm_plugin._urdf import get_urdf_path as get_urdf_path
+
+if TYPE_CHECKING:
+    from physicalai_stararm_plugin.stararm102fl import StarArm102FLFollower as StarArm102FLFollower
+    from physicalai_stararm_plugin.stararm102fl import (
+        StarArm102FLFollowerObservation as StarArm102FLFollowerObservation,
+    )
+    from physicalai_stararm_plugin.stararm102hd import StarArm102HDLeader as StarArm102HDLeader
+    from physicalai_stararm_plugin.stararm102hd import (
+        StarArm102HDLeaderObservation as StarArm102HDLeaderObservation,
+    )
+    from physicalai_stararm_plugin.stararm102ld import StarArm102LDLeader as StarArm102LDLeader
+
+__all__ = [
+    "StarArm102FLFollower",
+    "StarArm102FLFollowerObservation",
+    "StarArm102HDLeader",
+    "StarArm102HDLeaderObservation",
+    "StarArm102LDLeader",
+    "get_urdf_path",
+]
+
+
+def __getattr__(name: str) -> object:
+    if name == "StarArm102HDLeader":
+        from physicalai_stararm_plugin.stararm102hd import StarArm102HDLeader
+
+        return StarArm102HDLeader
+    if name == "StarArm102HDLeaderObservation":
+        from physicalai_stararm_plugin.stararm102hd import StarArm102HDLeaderObservation
+
+        return StarArm102HDLeaderObservation
+    if name == "StarArm102LDLeader":
+        from physicalai_stararm_plugin.stararm102ld import StarArm102LDLeader
+
+        return StarArm102LDLeader
+    if name == "StarArm102FLFollower":
+        from physicalai_stararm_plugin.stararm102fl import StarArm102FLFollower
+
+        return StarArm102FLFollower
+    if name == "StarArm102FLFollowerObservation":
+        from physicalai_stararm_plugin.stararm102fl import StarArm102FLFollowerObservation
+
+        return StarArm102FLFollowerObservation
+    msg = f"module {__name__!r} has no attribute {name!r}"
+    raise AttributeError(msg)

physicalai_stararm_plugin-0.1.0/src/physicalai_stararm_plugin/_urdf.py

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+"""URDF path utility for bundled robot description packages."""
+
+from __future__ import annotations
+
+# importlib.resources is safe here because this package requires Python >=3.11.
+import importlib.resources as ir  # nosemgrep: python.lang.compatibility.python37.python37-compatibility-importlib2
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from pathlib import Path
+
+
+def get_urdf_path() -> Path:
+    """Return the path to the bundled URDF directory.
+
+    The URDF files are installed alongside the Python package. This function
+    locates them regardless of whether the package is installed in development
+    mode (editable) or from a wheel.
+
+    Returns:
+        Path to the ``urdf/`` directory containing robot description packages.
+
+    Example:
+        >>> from physicalai_stararm_plugin import get_urdf_path
+        >>> urdf_dir = get_urdf_path()
+        >>> star_urdf = urdf_dir / "stararm102" / "urdf" / "stararm102_description.urdf"
+
+    """
+    traversal = ir.files("physicalai_stararm_plugin")
+    with ir.as_file(traversal) as p:
+        return p.parent.parent.joinpath("urdf")

physicalai_stararm_plugin-0.1.0/src/physicalai_stararm_plugin/constants.py

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+"""Motor and joint constants for Star Arm 102 variants."""
+
+from __future__ import annotations
+
+from typing import Final
+
+STAR_ARM_102_JOINT_ORDER: Final = (
+    "shoulder_pan",
+    "shoulder_lift",
+    "elbow_flex",
+    "wrist_flex",
+    "wrist_yaw",
+    "wrist_roll",
+    "gripper",
+)
+
+STAR_ARM_102_JOINT_IDS: Final = {
+    "shoulder_pan": 0,
+    "shoulder_lift": 1,
+    "elbow_flex": 2,
+    "wrist_flex": 3,
+    "wrist_yaw": 4,
+    "wrist_roll": 5,
+    "gripper": 6,
+}
+
+STAR_ARM_102_JOINT_RANGES_DEG: Final = {
+    "shoulder_pan": (-150.0, 150.0),
+    "shoulder_lift": (-1.0, 170.0),
+    "elbow_flex": (-200.0, 1.0),
+    "wrist_flex": (-80.0, 90.0),
+    "wrist_yaw": (-90.0, 90.0),
+    "wrist_roll": (-90.0, 90.0),
+    "gripper": (-0.0, 270.0),
+}