pysoarm 0.1.0__tar.gz

pysoarm-0.1.0/.gitignore

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+# --- Python ---------------------------------------------------------------
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+.Python
+build/
+develop-eggs/
+dist/
+eggs/
+.eggs/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# --- Virtual environments -------------------------------------------------
+.venv/
+venv/
+env/
+ENV/
+
+# --- Tooling / caches -----------------------------------------------------
+.pytest_cache/
+.mypy_cache/
+.ruff_cache/
+.coverage
+.coverage.*
+coverage.xml
+htmlcov/
+.tox/
+.nox/
+site/
+
+# --- Docs ----------------------------------------------------------------
+docs/_build/
+site/
+
+# --- Editors / OS --------------------------------------------------------
+.idea/
+.vscode/
+*.swp
+.DS_Store
+
+# --- Project-specific ----------------------------------------------------
+*.log
+logs/
+runs/
+datasets/
+*.mp4
+*.bag
+.calibration-local.json

pysoarm-0.1.0/CHANGELOG.md

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+# Changelog
+
+All notable changes to this project are documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+_Nothing yet._
+
+## [0.1.0] - 2026-11-04
+
+First public release: the device layer for one SO-100/SO-101 arm.
+
+### Added
+
+- **Bus layer** (`pysoarm/bus/`): a `Bus` Protocol as the single I/O boundary, the STS3215
+  register table with sign-magnitude codecs and unit scaling, a `pyserial` SCS backend
+  (`read`/`write`/`sync_read`/`sync_write`/`scan`, retries, checksum and status validation,
+  frame resynchronisation), and an in-memory `FakeBus` with fault injection and a
+  transaction log for tests.
+- **Calibration** (`pysoarm/calibration.py`): LeRobot-compatible JSON in **and** out,
+  validation against an arm model, `raw ↔ deg` conversion with the 4095 full-scale, travel
+  clamping and mirrored (`drive_mode = 1`) joints.
+- **Safety** (`pysoarm/safety.py`): validity, watchdog, over-temperature, undervoltage,
+  soft-limit clamping and per-step clipping, expressed as pure functions returning a
+  `SafetyReport` so clipping is observable.
+- **Trajectories** (`pysoarm/trajectory.py`): minimum-jerk, linear ramp and
+  `ResampledTrajectory` (replay of any recorded `(t, q)` table — a primitive, not a format).
+- **`SOArm`** (`pysoarm/arm.py`): `connect` (configure → hold measured pose → enable torque),
+  `read_once`, `write_goal`, `hold`, `move_to`, `run_control_loop`, idempotent `stop()`,
+  context-manager support, health-register caching spread over ticks, and a communication
+  watchdog that disables torque before raising.
+- **CLI** (`pysoarm` console script): `scan`, `read`, `monitor`, `hold`, `doctor` with stable
+  exit codes; `doctor` checks the tty, permissions, other processes holding the port and
+  `ModemManager`.
+- **Models** (`pysoarm/models/`): SO-100/SO-101 layout, motor ids, gripper protection caps,
+  aliases for LeRobot's `so_follower`/`so_leader` names.
+- **`rustypot` backend** (`pysoarm/bus/rustypot.py`): the same `Bus` protocol on top of the
+  Rust driver LeRobot uses, selectable with `SOArm(backend="rustypot")`, `make_bus(...)` or
+  `--backend` on every CLI sub-command (`auto` prefers it when importable). Measured on the
+  reference arm: six-joint read 0.98 ms (vs 2.18 ms), control step 1.44 ms (vs 2.79 ms),
+  200 Hz loop with **0 overruns** over 3 × 200 ticks (vs 3–6). Adapter tests run against a
+  stub of the pyo3 module, plus opt-in hardware tests for correctness (both backends must
+  report the same positions) and the latency budget. Retries are handled by the adapter with
+  rustypot's own retry loop disabled, so both backends retry identically and an intermittent
+  "Parsing error" from the Rust layer is retried instead of tripping the watchdog.
+- **Tests**: 207 unit tests (protocol-level wire emulation, fake-bus control paths, safety
+  tables, calibration round trips, CLI) plus 3 opt-in hardware tests, at ~90 % coverage.
+- **Measured on the reference arm**: single register read 0.36 ms, six-joint `sync_read`
+  2.18 ms, six-goal `sync_write` 0.26 ms, full control step 2.71 ms → 200 Hz loop with
+  2–4 overruns per 200 ticks. Hardware tests assert the step stays under 4 ms.
+- **Hardware finding**: the TTL bus is half-duplex, so pipelining READ requests corrupts the
+  stream; `sync_read` issues sequential request/response pairs and the wire-level tests model
+  the collision so a regression fails CI.
+
+- **Cartesian control** (`pysoarm/kinematics/`): a dependency-free `Pose` (metres + unit
+  quaternion, RPY helpers), the `Kinematics` protocol, and `PlacoKinematics` behind the
+  optional `kinematics` extra. `SOArm.forward()` and `SOArm.move_to_pose()` solve IK **before**
+  writing any goal, so an unreachable target raises `NotReachableError` with the residual and
+  leaves the arm untouched; the resulting joint goal still passes every safety guard.
+  Defaults are tuned from measurement: a placo task gain of `1e-3` converges in ~5 iterations
+  on the reference two-link URDF, while `1.0` overshoots into a wrong branch. The placo import
+  is lazy, so `import pysoarm` still needs neither numpy nor placo.
+- **CLI**: `pysoarm pose` (FK, from `--q` or read-only from `--port`) and `pysoarm ik`
+  (dry-run inverse kinematics), both with `--json`.
+- **`ArmBridge`** (`pysoarm/bridge.py`): framework-agnostic snapshot (`JointStateFrame`, with
+  radians for ROS), command path in degrees or radians, torque enable/disable, and a
+  staleness rule — a command based on a state older than `max_command_age_s` is refused.
+- **ROS 2 package** (`ros2/pysoarm_ros2`, separate `ament_python` package): publishes
+  `joint_states` (radians), subscribes to `joint_commands`, exposes `enable`/`disable`
+  services, and routes everything through `ArmBridge` so the guards cannot be bypassed. CI has
+  no ROS installation: the node is syntax-checked only and its tests skip without `rclpy`, while
+  all ROS-independent logic is covered by the main suite. The node itself is covered by
+  `tests/test_ros2_node.py`, which loads it against stub `rclpy`/message modules and checks
+  parameter declarations, endpoints, degree→radian conversion, command routing, stale-command
+  rejection, the torque services and torque release on shutdown.
+
+### Documentation
+
+- Added [ADR 0001](docs/adr/0001-scope-device-layer.md): pysoarm is a device-layer SDK. It
+  records the rule for what belongs in the package, lists teleoperation, dataset recording,
+  policies and ROS drivers as explicit non-goals (with the reasoning and the alternatives
+  considered), and documents replay as a *primitive* (`ResampledTrajectory`) rather than a
+  dataset format. Mirrored in `README.md` under "Non-goals" and linked from the
+  architecture page and the mkdocs navigation.
+
+### Changed
+
+- Project metadata now points at the public repository
+  <https://github.com/applebluecode/pysoarm> (author `jw`, security reports via GitHub private
+  advisories, ROS 2 maintainer `jw`).
+- Development commands (`make lint|type|test|cov|docs|build`) now run through `uv run`;
+  `make check` runs the full CI set locally and `make install-dev` does
+  `uv sync --locked` + `pre-commit install`. A plain-pip path
+  (`pip install --group dev -e .`) remains documented for contributors without uv.
+- `uv.lock` is resolved against pypi.org (the index pinned in `pyproject.toml`), so
+  `uv sync --locked` works on CI rather than only next to a local mirror config. `numpy`
+  joined the `dev` group because the kinematics adapter imports it at module level while
+  `placo` stays optional — its tests skip when the extra is absent.
+
+[Unreleased]: https://github.com/applebluecode/pysoarm/compare/v0.1.0...HEAD
+[0.1.0]: https://github.com/applebluecode/pysoarm/releases/tag/v0.1.0

pysoarm-0.1.0/LICENSE

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pysoarm-0.1.0/NOTICE

@@ -0,0 +1,5 @@
+pysoarm
+Copyright 2026 jw <singlecycle27@163.com>
+
+This product includes software developed as part of the pysoarm project
+(https://github.com/applebluecode/pysoarm).

pysoarm-0.1.0/PKG-INFO

@@ -0,0 +1,229 @@
+Metadata-Version: 2.5
+Name: pysoarm
+Version: 0.1.0
+Summary: Lean, hardware-level Python API for SO-100/SO-101 robot arms (Feetech STS3215 serial bus).
+Project-URL: Homepage, https://github.com/applebluecode/pysoarm
+Project-URL: Documentation, https://applebluecode.github.io/pysoarm/
+Project-URL: Repository, https://github.com/applebluecode/pysoarm
+Project-URL: Issues, https://github.com/applebluecode/pysoarm/issues
+Project-URL: Changelog, https://github.com/applebluecode/pysoarm/blob/main/CHANGELOG.md
+Author-email: jw <singlecycle27@163.com>
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Keywords: feetech,lerobot,manipulator,robotics,serial-bus,so-100,so-101,sts3215
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Developers
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: POSIX :: Linux
+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 :: Hardware Drivers
+Classifier: Typing :: Typed
+Requires-Python: >=3.10
+Requires-Dist: pyserial>=3.5
+Provides-Extra: kinematics
+Requires-Dist: numpy>=1.24; extra == 'kinematics'
+Requires-Dist: placo>=0.8; extra == 'kinematics'
+Provides-Extra: rustypot
+Requires-Dist: rustypot>=0.4; extra == 'rustypot'
+Description-Content-Type: text/markdown
+
+# pysoarm
+
+[![CI](https://github.com/applebluecode/pysoarm/actions/workflows/ci.yml/badge.svg)](https://github.com/applebluecode/pysoarm/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/pysoarm.svg)](https://pypi.org/project/pysoarm/)
+[![Python](https://img.shields.io/pypi/pyversions/pysoarm.svg)](https://pypi.org/project/pysoarm/)
+[![License](https://img.shields.io/badge/license-Apache--2.0-blue.svg)](LICENSE)
+[![Typed](https://img.shields.io/badge/typing-mypy%20strict-informational.svg)](https://mypy.readthedocs.io/)
+
+A **lean, hardware-level Python API** for the [SO-100 / SO-101](https://github.com/TheRobotStudio/SO-ARM100)
+robot arm: six Feetech **STS3215** serial-bus servos on a single 1 Mbaud TTL bus.
+
+`pysoarm` talks to the bus directly and deliberately stops there: no datasets, no policies,
+no training stack. It targets the ergonomics of `pylibfranka` / `pyAgxArm`
+(`connect()` → `read_once()` → `write_goal()` / control loop) within what position-servo
+hardware can actually do.
+
+> **Status: 0.1.0.** Bus transport (SCS over `pyserial` and the optional `rustypot` backend),
+> calibration, safety guards, trajectories, Cartesian kinematics, the `SOArm` device object,
+> the `ArmBridge`/ROS 2 adapter and the CLI are implemented and covered by tests, including
+> opt-in hardware tests on a real SO-101. Teleoperation, dataset recording and policies are
+> deliberate non-goals — see [ADR 0001](docs/adr/0001-scope-device-layer.md).
+
+## Why
+
+* **1.4 ms** per control step with the optional `rustypot` backend (0.98 ms to read six
+  joints, 0.26 ms to write six goals) → a 200 Hz loop with **zero overruns**; 2.8 ms and
+  ~2 % overruns with the pure-Python default.
+* **Single small dependency** (`pyserial`) by default; `pip install "pysoarm[rustypot]"`
+  adds the Rust backend (what LeRobot uses) behind the same `Bus` protocol.
+* **Explicit safety layer**: per-step clipping, soft limits, temperature/voltage
+  guards, communication watchdog — the parts that usually get skipped in quick scripts.
+* **Reuses your existing calibration** (LeRobot-compatible JSON) instead of forcing
+  a re-calibration.
+
+## What it is not
+
+The STS3215 is a position servo: there is no torque sensor, no force/torque feedback
+and no hard real-time bus. Impedance/torque control à la Franka is **not** possible;
+see [`docs/hardware.md`](docs/hardware.md) for the honest capability matrix.
+
+### Non-goals (deliberate, see [ADR 0001](docs/adr/0001-scope-device-layer.md))
+
+pysoarm is a **device-layer** SDK. A feature belongs here only if it is a physical fact of a
+single device (register, scale, calibration, limit, timing, status bit). Everything that
+needs a second device, an external data format or a learning stack stays outside:
+
+| Not in pysoarm | Use instead |
+|---|---|
+| Teleoperation / leader-follower / input devices | ~10 lines of your own code (`follower.write_goal(leader.read_once().q_deg)`), or `lerobot-teleoperate` |
+| Dataset recording (cameras, video encoding, parquet, Hub upload) | LeRobot (`lerobot-record`) |
+| Dataset-format replay | `ResampledTrajectory` + your loader (any `(t, q)` table) |
+| Policies, training, RL environments | LeRobot / your framework |
+| ROS / ROS2 driver | a separate adapter package (not planned here) |
+| Torque / impedance control | not available on position-servo hardware |
+
+The reason is maintenance, not modesty: recording would pull in `av`, `pyarrow`, `opencv`
+and `huggingface_hub`, and couple us to a dataset schema owned by upstream. The seam is
+documented so the decision can be revisited without breaking the layer rule.
+
+## Install
+
+```bash
+pip install pysoarm                # reference backend (pyserial)
+pip install "pysoarm[rustypot]"    # + fast Rust backend
+pip install "pysoarm[dev]"         # lint, types, tests, build
+```
+
+From source, for development ([uv](https://docs.astral.sh/uv/) is the supported workflow):
+
+```bash
+git clone https://github.com/applebluecode/pysoarm && cd pysoarm
+make install-dev        # = uv sync --locked && uv run pre-commit install
+```
+
+Without uv (pip 25.1+, PEP 735 groups):
+
+```bash
+python -m venv .venv && . .venv/bin/activate
+pip install --group dev -e .
+pre-commit install
+```
+
+## Quickstart
+
+```python
+from pysoarm import SOArm  # noqa: F401  (API lands in 0.1.0)
+
+arm = SOArm(port="/dev/so101_follower", calibration="my_follower.json")
+arm.connect()
+try:
+    state = arm.read_once()
+    print(state.q_deg)
+finally:
+    arm.stop()
+```
+
+## Repository layout
+
+```
+src/pysoarm/          # the importable package (src layout)
+  arm.py              # SOArm: high-level device object (pylibfranka-like surface)
+  state.py            # immutable ArmState snapshots
+  calibration.py      # LeRobot-compatible calibration JSON + degrees <-> raw ticks
+  safety.py           # limits, guards, watchdog
+  trajectory.py       # interpolators / ramps for move_to()
+  bus/                # transport backends behind one Protocol (base, scs, rustypot, fake)
+  models/             # per-arm descriptions (joint names, motor ids, directions)
+  kinematics/         # optional FK/IK (placo) on top of a SO-101 URDF
+  cli/                # `pysoarm` command line entry point
+  devices/udev/       # udev rule for stable /dev/so101_* names
+tests/                # unit tests (hardware tests are opt-in)
+examples/             # runnable examples
+docs/                 # mkdocs site + docs/adr/ (scope and other decisions)
+ros2/                 # separate ament_python package: pysoarm_ros2 node
+.github/workflows/    # CI (lint + types + tests + build) and PyPI release
+```
+
+## ROS 2
+
+`ros2/pysoarm_ros2` is a thin rclpy node over `pysoarm.bridge.ArmBridge`: it publishes
+`joint_states` (radians), accepts `joint_commands` (radians) and exposes `enable` / `disable`
+services. It stays a separate package so the device layer keeps zero ROS dependencies.
+
+```bash
+colcon build --packages-select pysoarm_ros2
+ros2 run pysoarm_ros2 arm_node --ros-args -p port:=/dev/so101_follower -p backend:=rustypot
+```
+
+See [docs/guides/ros2.md](docs/guides/ros2.md) for parameters and safety behaviour.
+
+## Cartesian control
+
+Kinematics is optional (`pip install "pysoarm[kinematics]"`, needs your own URDF):
+
+```python
+from pysoarm.kinematics import PlacoKinematics
+
+arm = SOArm("/dev/so101_follower", kinematics=PlacoKinematics("so101.urdf"))
+print(arm.forward())  # current end-effector pose
+arm.move_to_pose(target_pose, duration=2.0)  # IK, then a joint-space move
+```
+
+Unreachable targets raise `NotReachableError` **before** anything is written.
+
+## Development
+
+```bash
+make install-dev   # uv sync --locked + pre-commit hooks
+make check         # lint + type + test (what CI runs)
+make lint          # ruff check + ruff format --check
+make type          # mypy --strict
+make test          # pytest
+make cov           # pytest + coverage
+make build         # sdist + wheel, then twine check --strict
+make docs          # serve the mkdocs site locally
+```
+
+Everything runs through `uv run`, so you never activate an environment manually.
+
+### Dependency management
+
+* **`pyproject.toml` is the only source of published metadata** — `pip install pysoarm`
+  never looks at anything else. Dev-only tooling lives in PEP 735 *dependency groups*
+  (`dev`, `docs`, `hardware`), which are not part of the distribution.
+* **`uv.lock` makes the dev environment reproducible** and is committed. CI runs with
+  `UV_FROZEN=1` and `uv sync --locked`, so a stale lock fails the build instead of silently
+  resolving different versions.
+* The index is pinned in `pyproject.toml` (`[[tool.uv.index]]` → `pypi.org`) so the lock
+  names the same artefacts for everyone. To resolve through a mirror locally:
+
+  ```bash
+  UV_DEFAULT_INDEX=https://pypi.tuna.tsinghua.edu.cn/simple uv lock
+  ```
+
+  …but do **not** commit that lock: it would pin mirror URLs for downstream contributors.
+* `make upgrade` (`uv lock --upgrade`) is the way to bump dependencies; Dependabot also
+  opens `uv.lock` PRs.
+
+Hardware tests are marked `hardware` and skipped unless `PYSOARM_HARDWARE_PORT` is set:
+
+```bash
+PYSOARM_HARDWARE_PORT=/dev/ttyACM0 pytest -m hardware
+```
+
+## Publishing
+
+1. bump `version` in `pyproject.toml` and `CHANGELOG.md`;
+2. `git tag v0.1.0 && git push --tags`;
+3. the `release.yml` workflow builds, runs `twine check`, and publishes to PyPI via
+   **trusted publishing** (OIDC, no API token stored).
+
+## License
+
+Apache-2.0 — see [`LICENSE`](LICENSE).