Merge branch 'main' of https://github.com/Robot-cpp/robot.cpp

Author: CrafterSteve

.clang-format

@@ -0,0 +1,21 @@
+BasedOnStyle: LLVM
+Language: Cpp
+Standard: c++17
+ColumnLimit: 120
+IndentWidth: 4
+ContinuationIndentWidth: 4
+TabWidth: 4
+UseTab: Never
+BreakBeforeBraces: Attach
+AllowShortFunctionsOnASingleLine: Inline
+AllowShortIfStatementsOnASingleLine: Never
+AllowShortLoopsOnASingleLine: false
+AlignConsecutiveAssignments:
+  Enabled: true
+  AcrossEmptyLines: false
+  AcrossComments: false
+  AlignCompound: false
+  PadOperators: true
+PointerAlignment: Middle
+ReferenceAlignment: Middle
+SortIncludes: false

.github/workflows/checks.yml

@@ -0,0 +1,24 @@
+name: Checks
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  pre-commit:
+    name: Pre-commit
+    runs-on: ubuntu-22.04
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install checks
+        run: python -m pip install pre-commit ruff clang-format
+
+      - name: Run checks
+        run: pre-commit run --all-files --show-diff-on-failure

.pre-commit-config.yaml

@@ -0,0 +1,15 @@
+repos:
+  - repo: local
+    hooks:
+      - id: ruff-fatal
+        name: ruff fatal checks
+        entry: ruff check --select E9,F63,F7,F82
+        language: system
+        types_or: [python, pyi]
+        exclude: ^third_party/
+
+      - id: clang-format
+        name: clang-format
+        entry: clang-format --dry-run --Werror
+        language: system
+        files: ^(src|robot_server|robot_client)/.*\.(c|cc|cpp|cxx|h|hpp)$

README.md

@@ -25,6 +25,21 @@ cmake --build build --target model-cli model-server
 `VLACPP_BUILD_ROBOT_SERVER` is the only project-level build option. The build no
 longer registers CTest targets or the old `vlacpp` shared C ABI.
 
+## Checks
+
+Install and run the local checks with:
+
+```sh
+python -m pip install pre-commit ruff clang-format
+pre-commit install
+pre-commit run --all-files
+```
+
+The hook set follows the same shape as `llama.cpp`'s pre-commit setup, but is
+kept local and lightweight: Python fatal checks through `ruff`, and C/C++
+format checks through `clang-format`. GitHub Actions runs the same hooks on all
+tracked files in pushes and pull requests.
+
 ## SmolVLA Server
 
 ```sh

eval/lerobot_so101/README.md

@@ -10,6 +10,8 @@
 
 ```
 eval/lerobot_so101/
+├── run_sync.py                 # 入口：ROBOT_PLATFORM -> SyncControlLoop
+├── sync_loop.py                # observe -> predict -> act 循环
 ├── so101_client.py             # SO101RobotClient（BasePolicy 实现）
 ├── utils/
 │   ├── robot.py                # build_camera_config 等
@@ -18,10 +20,7 @@ eval/lerobot_so101/
 ├── test/                       # test_camera.py, run_camera_test.sh
 └── shell/                      # so101_env.sh, run_robot_client.sh 等
 
-robot_client/base_policy/
-├── run_sync.py                 # 入口：ROBOT_PLATFORM -> SyncControlLoop
-├── base.py                     # BasePolicy
-└── sync_loop.py                # observe -> predict -> act 循环
+eval/base_platform.py           # BasePolicy
 ```
 
 ## 安装
@@ -51,7 +50,7 @@ pip install -e "eval/lerobot_so101/lerobot_camera_opencv_crop"
 | `MODEL_IMAGE_NAME`            | 发给 model-server 的 image key（本 checkpoint 默认 `observation.images.camera1`） |
 | `CAMERA_`*                    | 分辨率、backend、resize、warmup 等                              |
 | `ROBOT_USE_DEGREES`           | follower 关节单位（默认 degrees）                                |
-| `ROBOT_PLATFORM`              | `base_policy` 平台（默认 `lerobot_so101` → `so101_client.py`） |
+| `ROBOT_PLATFORM`              | 平台选择（默认 `lerobot_so101` → `eval.lerobot_so101.so101_client`） |
 | `SERVER` / `TASK` / `FPS`     | vla.cpp TCP 推理                                           |
 | `DATASET_REPO_ID` 等           | 录制数据集                                                    |
 
@@ -88,7 +87,7 @@ bash eval/lerobot_so101/shell/run_robot_client.sh
 
 ```bash
 source eval/lerobot_so101/shell/so101_env.sh
-python -m base_policy
+python -m eval.lerobot_so101.run_sync
 ```
 
 按键：**R** 回 home，**Q** 退出。
@@ -136,4 +135,3 @@ cd eval/lerobot_so101
 cd eval/lerobot_so101
 ./shell/record_dataset.sh
 ```
-

eval/lerobot_so101/shell/so101_env.sh

@@ -36,7 +36,7 @@ EOF
 fi
 export ROBOT_CAMERAS="${ROBOT_CAMERAS//$'\n'/}"
 
-# --- Inference client (python -m base_policy) ---
+# --- Inference client (python -m eval.lerobot_so101.run_sync) ---
 export ROBOT_PLATFORM="lerobot_so101"
 export SERVER="${SERVER:-127.0.0.1:5555}"
 export TASK="${TASK:-grab the block.}"

eval/lerobot_so101/test/test_camera.py

@@ -24,8 +24,8 @@
 from lerobot.cameras.utils import make_cameras_from_configs
 from lerobot.utils.import_utils import register_third_party_plugins
 
-from utils.robot import build_camera_config
-from model_client import image_to_rgb_hwc_u8_bytes, state_to_list
+from eval.lerobot_so101.utils.robot import build_camera_config
+from robot_client.python.model_client import image_to_rgb_hwc_u8_bytes, state_to_list
 
 # Default matches shell/run_robot_client.sh (camera1 + warmup_s).
 DEFAULT_ROBOT_CAMERAS = (

eval/libero/README.md

@@ -199,8 +199,8 @@ stay last because it consumes the rest of the command line. The runner itself is
 model-agnostic; pi0-specific values appear only in this launch command. The
 optional `ROBOTCPP_BACKEND` environment override selects the server backend.
 
-The reusable simulation policy and server lifecycle helpers live in
-`robot_client/base_policy/sim_policy.py`. The LIBERO client supplies only the
+The reusable base policy and server lifecycle helpers live in
+`robot_client/policy/base_policy.py`. The LIBERO client supplies only the
 LIBERO-specific request adapter, matching LeRobot LIBERO rollout input
 semantics:
 

eval/libero/benchmark_model_server_policy.py

@@ -11,7 +11,7 @@
 
 from eval.libero.client import DEFAULT_IMAGE_KEYS, LiberoClient
 from eval.libero.utils import DEFAULT_RESULTS_DIR, timestamp, write_json
-from robot_client.base_policy.sim_policy import (
+from robot_client.policy.base_policy import (
     maybe_launch_server,
     parse_server_env,
     server_command,

eval/libero/client.py

@@ -6,7 +6,7 @@
 
 import numpy as np
 
-from robot_client.base_policy.sim_policy import SimPolicy
+from robot_client.policy.base_policy import BasePolicy
 from eval.libero.env import DEFAULT_LIBERO_CAMERA_KEYS
 
 
@@ -75,7 +75,7 @@ def build_libero_request(
     }
 
 
-class LiberoClient(SimPolicy):
+class LiberoClient(BasePolicy):
     """LIBERO-specific model-server policy client."""
 
     def __init__(