roboapi 0.4.2__py3-none-any.whl

roboapi/web/static/assets/index-QXqV-fDC.css

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roboapi/web/static/index.html

@@ -0,0 +1,15 @@
+<!doctype html>
+<html lang="en">
+  <head>
+    <meta charset="UTF-8" />
+    <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+    <meta name="color-scheme" content="light" />
+    <meta name="theme-color" content="#fcfdfd" />
+    <title>RoboAPI · PokeBot</title>
+    <script type="module" crossorigin src="/assets/index-CGLhpUm0.js"></script>
+    <link rel="stylesheet" crossorigin href="/assets/index-QXqV-fDC.css">
+  </head>
+  <body>
+    <div id="root"></div>
+  </body>
+</html>

roboapi-0.4.2.dist-info/METADATA

@@ -0,0 +1,205 @@
+Metadata-Version: 2.4
+Name: roboapi
+Version: 0.4.2
+Summary: Run robot policies on UR and Franka through a browser or an MCP agent.
+Author: PokeBot
+License-Expression: Apache-2.0 AND MIT AND ISC AND OFL-1.1 AND LicenseRef-MiSans
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Operating System :: POSIX :: Linux
+Requires-Python: <3.13,>=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+License-File: frontend/public/assets/Bundler-LICENSE.txt
+License-File: frontend/public/assets/Inter-OFL.txt
+License-File: frontend/public/assets/Lucide-LICENSE.txt
+License-File: frontend/public/assets/Meshoptimizer-LICENSE.txt
+License-File: frontend/public/assets/PokeBrand-NOTICE.txt
+License-File: frontend/public/assets/React-LICENSE.txt
+License-File: frontend/public/assets/Three-LICENSE.txt
+Requires-Dist: numpy
+Requires-Dist: scipy
+Requires-Dist: pillow
+Requires-Dist: opencv-python
+Requires-Dist: imageio-ffmpeg
+Requires-Dist: httpx
+Requires-Dist: pyyaml
+Requires-Dist: mcp
+Requires-Dist: tyro<2,>=1.0.16
+Provides-Extra: ur-cb3
+Requires-Dist: ur_rtde; extra == "ur-cb3"
+Provides-Extra: franka
+Requires-Dist: franky-control<3,>=2.0; extra == "franka"
+Requires-Dist: websockets>=15; extra == "franka"
+Provides-Extra: franka56
+Requires-Dist: franky-control==2.0.0+libfranka.0.13.3; extra == "franka56"
+Requires-Dist: websockets>=15; extra == "franka56"
+Provides-Extra: panda
+Requires-Dist: franky-control==2.0.0+libfranka.0.9.2; extra == "panda"
+Requires-Dist: websockets>=15; extra == "panda"
+Provides-Extra: gripper
+Requires-Dist: minimalmodbus; extra == "gripper"
+Dynamic: license-file
+
+# RoboAPI
+
+> Version 0.3.0 renames the Python package, CLI and import to `roboapi`. Use a new environment and configuration; existing `robomcp` releases are different artifacts.
+
+Test and run robot policies on UR and Franka through a browser or an MCP agent.
+
+RoboAPI connects a single arm, a Robotiq parallel gripper and a wrist fisheye camera to a
+session-based model API. It collects observations, requests action
+chunks and executes them with the same Cartesian semantics across robots.
+
+The source archive on PyPI includes complete installation, calibration and model API guides
+in `docs/`: select **Download files** on the PyPI project page, download the `.tar.gz` archive,
+and extract it. The GitHub repository is currently private.
+
+## Requirements
+
+- **Robot:** UR5 (CB3), UR5e, UR7e, Franka FR3 or Panda with system software 4.2.1–4.x.
+- **Camera:** wrist-mounted fisheye RGB, using V4L2 with MJPG at 1280×720 and 30 FPS.
+  Mounting must match the model's training viewpoint.
+- **Host:** Linux x86-64 and CPython 3.10–3.12; new installations use 3.12 with
+  [uv](https://docs.astral.sh/uv/getting-started/installation/).
+- **Model service:** a Base URL, model ID and API key for the model API contract.
+
+The release wheel includes the web interface. UR e-Series requires a separately built
+control runtime from sources included in the wheel. Franka uses a compatible SDK and
+requires a realtime host.
+
+## Get started
+
+1. Install system libraries and create a Python environment on the robot host:
+
+   ```sh
+   sudo apt-get update
+   sudo apt-get install -y libgl1 libglib2.0-0
+   mkdir -p ~/roboapi && cd ~/roboapi
+   uv venv --python 3.12
+   . .venv/bin/activate
+   ```
+
+   Install the matching package for the robot and gripper:
+
+   | Robot | Command |
+   | --- | --- |
+   | UR CB3 | `uv pip install 'roboapi[ur-cb3,gripper]'` |
+   | UR e-Series | `uv pip install 'roboapi[gripper]'` |
+   | Franka FR3, system 5.9+ | `uv pip install 'roboapi[franka,gripper]'` |
+   | Franka FR3, system 5.6.0 | `uv pip install 'roboapi[franka56,gripper]' --index https://timschneider42.github.io/franky/whl/libfranka-0.13.3/` |
+   | Franka Panda, system 4.2.1–4.x | `uv pip install 'roboapi[panda,gripper]' --index https://timschneider42.github.io/franky/whl/libfranka-0.9.2/` |
+
+   UR e-Series additionally needs its native runtime built on the host:
+
+   ```sh
+   sudo apt-get install -y build-essential cmake
+   python -m roboapi.hardware.ur.build --build-dir build/ur-native --install-dir "$VIRTUAL_ENV"
+   ```
+
+   For Franka, configure the [realtime kernel and permissions](https://frankarobotics.github.io/docs/doc/libfranka/docs/real_time_kernel.html),
+   connect to the control cabinet's Shop Floor interface and enable FCI. FR3 5.6 and Panda
+   require a one-time import of the standard load and flange TCP in Desk: run
+   `roboapi export-franka-tool --output endeffector-config.json` and follow the Franka
+   installation guide in the source archive. The physical tool must match that preset.
+
+   Use the `video` and `dialout` groups as appropriate for the camera and serial gripper.
+   On UR, configure the flange-centre TCP and physical load in PolyScope.
+2. Run the setup wizard on the robot host:
+
+   ```sh
+   roboapi init
+   ```
+
+   Have the robot address, camera device and model credentials ready. The wizard selects the
+   gripper connection and saves the local configuration; Franka also needs Desk credentials.
+3. Start the browser interface:
+
+   ```sh
+   roboapi http
+   ```
+
+   Open [localhost:8080](http://127.0.0.1:8080/). Camera preview starts automatically, with
+   read-only arm feedback when available. Franka preview uses Desk; startup leaves its
+   brakes and operating mode unchanged. For a remote robot host, forward its port 8080
+   over SSH, then open the local forwarded address.
+4. Open **Settings → Devices → Calibrate**. Teach Home and three points on a level surface.
+   After the last point, RoboAPI returns Home, saves the calibration and initializes the arm and gripper.
+   Try the optional direction checks, or choose **Done** to return to the run view.
+   UR uses PolyScope teaching; Franka uses the arm's native guiding buttons, with one selectable
+   translation axis and rotation held after capturing Home.
+5. Enter an **Instruction** and choose **Start**. Check the camera and current state; use
+   **Logs** for errors. The send arrow becomes **Robot Stop**, and **Home** returns to the calibrated pose.
+
+Actions run at 30 Hz. Between chunks, RoboAPI waits 0.5 seconds by default before capturing
+the next observation. Open the current model at the input’s right to go to **Settings →
+Model & runtime** and change its connection or **Chunk wait (s)** while stopped. Choose
+English or Chinese in **Settings → General**.
+
+Shift+Enter sends; Enter inserts a newline. Up/Down recalls past instructions without sending.
+Sending a new draft during a web run interrupts its current action chunk and starts a new task
+once the stop completes.
+
+**Settings → Devices → Motion range** sets each axis's negative and positive distances from Home in centimetres.
+It starts enabled at Home ±0.60 m on each axis. Out-of-range position targets stop at the box
+boundary without ending the task; this does not constrain external forces or the whole arm.
+If the robot is already outside, use **Home** to return smoothly before starting another motion.
+Installation calibration is unrestricted, and saving limits never moves the robot.
+Runs continue until stopped or interrupted by a fault. Ctrl+C shuts down the service.
+
+The task cards above the camera retain past instructions. After stopping, send with an
+empty input to continue the current task, or enter a different instruction to start a new
+one. Each task has a thumbs-up/down rating, an optional note and one camera recording.
+Continuing a task appends to its recording and skips the stopped waiting time. Open a task
+to review or download its video, edit feedback or delete it; selecting an old instruction
+only fills the input until you explicitly send it.
+
+Recording starts automatically with each run and can be disabled for subsequent runs in
+**Settings → Recording & storage**. Videos contain the full camera view, independent of browser panning
+or cropping. Tasks and feedback remain on the robot host until manually deleted; ratings
+are not sent to the model service.
+
+Settings can be inspected during a run, with the current state and **Robot Stop** kept in
+the section heading. Returning preserves the instruction draft, camera view and expanded history.
+Storage management shows task and video usage on the robot host. Clear selected or all
+recordings while keeping instructions and feedback, or delete whole tasks after confirmation.
+Active tasks and recordings still being saved are skipped. Device shortcuts remain in the main header.
+**Logs** opens a floating panel with a text filter; the camera and instruction controls remain in place and stay usable.
+
+## Connect an agent
+
+Choose one startup mode for an installation:
+
+| Mode | Start with | Connect to |
+| --- | --- | --- |
+| Browser | `roboapi http` | `http://127.0.0.1:8080/` |
+| Browser and network MCP | `roboapi http --with-mcp` | Browser on 8080; MCP at `http://127.0.0.1:8000/mcp` |
+| Client-managed stdio MCP | Let the MCP client launch `roboapi serve` | stdio; browser also available on 8080 by default |
+
+Each command starts its own runtime and device connections. Stop the existing service before
+switching modes. To add a network agent to a browser session, restart with `--with-mcp`.
+See `docs/installation.md` in the source archive for stdio and remote MCP client configuration.
+
+The browser and agent share devices and settings. Stop the run before switching interfaces.
+
+## Documentation
+
+| Guide | Contents |
+| --- | --- |
+| `docs/installation.md` | Hardware preparation, native builds, connections, local files and upgrades |
+| `docs/calibration.md` | Home, reference plane and shared task coordinates |
+| `docs/model-api.md` | Sessions, observations, actions and execution feedback |
+| `docs/development.md` | Source setup, tests, packaging and releases |
+| `DESIGN.md` | Product scope and architecture |
+
+CI checks Python 3.10–3.12, frontend tests, hardware SDK imports and the installed web package,
+and builds and tests the UR control runtime. Physical robot operation requires separate verification;
+see the validation section of `docs/development.md`.
+
+## License
+
+Copyright 2026 PokeBot. Project code is licensed under [Apache-2.0](https://www.apache.org/licenses/LICENSE-2.0).
+Bundled third-party components retain their respective licenses; see `NOTICE` in the source archive.

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roboapi-0.4.2.dist-info/WHEEL

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+Generator: setuptools (84.2.1)
+Root-Is-Purelib: true
+Tag: py3-none-any
+

roboapi-0.4.2.dist-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+roboapi = roboapi.cli:app.cli