phosphobot 0.3.0

The AI-ready robotics dev kit, with built-in remote control and VLA support.

Teleoperation server

Setup and run

We instead use the uv package manager, which handles gracefully python version and dependencies. Think of uv like an alternative to pip, venv, and pyenv.

1. Install uv:

curl -LsSf https://astral.sh/uv/install.sh | sh

2. Pin python version In the teleop folder run:

uv python pin 3.10

3. Run the fastapi server

cd ..
make

Run locally on port 8080 with simulation

cd ..
make local

Run using the CLI

This program is a command line interface

# Display cool logo and check config
uv run teleop info
# Display help
uv run teleop --help
# Run on port 8080
uv run teleop run --port 8080

How to add dependencies?

To install a new Python package, use uv:

cd teleop
sudo uv add numpy

Keep the dependencies lean, use optional dependency groups: dev and test. To add to one of those groups, do this:

sudo uv add mypy --optional dev

Robot logic

The robot logic is in hardware/base.py

### GUI vs headless mode

In GUI mode, the FastAPI server launches simulation/pybullet.

#### Stop

If you have the error "Cannot connect to pybullet server" in GUI mode, do this

# Stop, then relaunch
make stop
make

And then relaunch.

## Build binary

We use nuitka to build the project into a binary.

cd ..
make build

This takes about 10min on a MacBook pro. The result is a binary main.bin

This binary only works for the same platform: eg MacOS. To compile it on Linux, you need to run a Linux machine.