pysoarm 0.1.0__py3-none-any.whl

pysoarm/__init__.py

@@ -0,0 +1,94 @@
+"""pysoarm — lean, hardware-level Python API for SO-100/SO-101 robot arms.
+
+The arm is six Feetech STS3215 serial-bus servos on one 1 Mbaud TTL bus. This package talks to
+that bus directly: no datasets, no policies, no training stack.
+
+Quick start::
+
+    from pysoarm import SOArm
+
+    with SOArm(port="/dev/so101_follower", calibration="follower.json") as arm:
+        state = arm.read_once()
+        arm.move_to([0, -30, 60, 0, 90, 40], duration=2.0)
+
+Scope
+-----
+pysoarm is a **device-layer** SDK: teleoperation, dataset recording and policies are
+deliberately out of scope (see ``docs/adr/0001-scope-device-layer.md``).
+"""
+
+from __future__ import annotations
+
+from pysoarm._version import __version__
+from pysoarm.arm import LoopStats, SOArm
+from pysoarm.bridge import ArmBridge, JointStateFrame
+from pysoarm.bus import Backend, make_bus
+from pysoarm.bus.base import Bus
+from pysoarm.bus.fake import FakeBus
+from pysoarm.bus.registers import REGISTERS, Register, RegisterKind, get_register
+from pysoarm.bus.rustypot import RustypotBus
+from pysoarm.bus.scs import ScsBus
+from pysoarm.calibration import Calibration, JointCalibration
+from pysoarm.constants import DEFAULT_BAUDRATE, DEFAULT_LOOP_HZ
+from pysoarm.exceptions import (
+    BusConnectionError,
+    CalibrationError,
+    CommunicationError,
+    ConfigurationError,
+    KinematicsError,
+    NotReachableError,
+    PysoarmError,
+    SafetyViolation,
+    WatchdogTimeout,
+)
+from pysoarm.kinematics.base import Kinematics, Pose
+from pysoarm.models import MODELS, SO100, SO101, RobotModel, get_model
+from pysoarm.safety import SafetyLimits, SafetyReport, apply_guards
+from pysoarm.state import ArmState
+from pysoarm.trajectory import LinearRamp, MinimumJerk, ResampledTrajectory, Trajectory
+
+__all__ = [
+    "DEFAULT_BAUDRATE",
+    "DEFAULT_LOOP_HZ",
+    "MODELS",
+    "REGISTERS",
+    "SO100",
+    "SO101",
+    "ArmBridge",
+    "ArmState",
+    "Backend",
+    "Bus",
+    "BusConnectionError",
+    "Calibration",
+    "CalibrationError",
+    "CommunicationError",
+    "ConfigurationError",
+    "FakeBus",
+    "JointCalibration",
+    "JointStateFrame",
+    "Kinematics",
+    "KinematicsError",
+    "LinearRamp",
+    "LoopStats",
+    "MinimumJerk",
+    "NotReachableError",
+    "Pose",
+    "PysoarmError",
+    "Register",
+    "RegisterKind",
+    "ResampledTrajectory",
+    "RobotModel",
+    "RustypotBus",
+    "SOArm",
+    "SafetyLimits",
+    "SafetyReport",
+    "SafetyViolation",
+    "ScsBus",
+    "Trajectory",
+    "WatchdogTimeout",
+    "__version__",
+    "apply_guards",
+    "get_model",
+    "get_register",
+    "make_bus",
+]

pysoarm/_version.py

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+"""Single source of truth for the runtime version.
+
+``importlib.metadata`` reads it from the installed distribution, so the number in
+``pyproject.toml`` is authoritative; a source checkout that was never installed falls back to a
+PEP 440 local version instead of failing.
+"""
+
+from __future__ import annotations
+
+from importlib import metadata
+
+__all__ = ["__version__"]
+
+
+def _resolve() -> str:
+    try:
+        return metadata.version("pysoarm")
+    except metadata.PackageNotFoundError:  # running from a source tree
+        return "0.0.0+unknown"
+
+
+__version__ = _resolve()