nestor-satellite

Python SDK to write satellites for Nestor: devices (a Raspberry Pi speaker, a robot, a screen) that pair with a Nestor server, stream audio over WebRTC, carry out its intents and report what they observe, following the nestor.satellite/1 protocol. It does not depend on the Nestor server.

Documentation: nestorhome.dev/docs/sdks/python (pairing options, the command, conformance).

pip install 'nestor-satellite[sounddevice]'
NESTOR_PAIRING_URI='nestor+http://nestor.local:7860/?code=K7QF2M9X' nestor-satellite run --room salon

A driver of your own:

import asyncio

from nestor_satellite import AUDIO_CAPTURE, AUDIO_PLAYBACK, EXPRESSION, IDENTIFY, Body, Device, Manifest
from nestor_satellite import Satellite, TokenStore
from nestor_satellite.devices import Microphone, Speaker


class Led(Body):
    def behavior(self, behavior):
        print("attitude:", behavior)  # idle, listening, thinking, speaking

    def expression(self, expression, intensity):
        print("expression:", expression, intensity)

    def identify(self):
        print("blink!")  # a person is telling devices apart


manifest = Manifest.of(
    Device("enceinte-salon", "raspberry-pi-4", "salon"), AUDIO_CAPTURE, AUDIO_PLAYBACK, EXPRESSION, IDENTIFY
)
satellite = Satellite(
    "http://nestor.local:7860",
    manifest,
    tokens=TokenStore("~/.config/nestor-satellite/enceinte-salon.json"),
    body=Led(),
    source=Microphone(),
    sink=Speaker(),
)
asyncio.run(satellite.run())  # pairs the first time, then stays connected and reconnects

The recorded voice that says device codes is shared under CC BY 4.0: see src/nestor_satellite/voice/LICENSE.

Development

The tests run the SDK against the Nestor server's conformance suite: the server (nestor-home) is a dev dependency, pinned and taken from PyPI. To test against a local checkout of the server instead: uv run --with-editable ../nestor pytest.

uv sync --all-extras
uv run pre-commit install
uv run ruff check && uv run ruff format --check && uv run ty check && uv run pytest

License

MIT