feat: comprehensive production-ready robotics control system for SO-1…

[dirvine]

…01 arms

Major Features:

• 🤖 Complete Vision-Language-Action (VLA) policy system with MolmoAct integration

  • MolmoAct policy with 3D spatial reasoning and Chain of Thought planning
  • OpenVLA policy support for cloud inference
  • Mock policy for testing and development
  • Skills framework (ReachSkill, PickSkill, PlaceSkill)
  • Action chunking for low-latency control

• 🛡️ Safety-critical constraint system

  • Expression-based constraint DSL with evalexpr
  • Real-time constraint evaluation
  • Watchdog monitoring with automatic intervention
  • Comprehensive safety testing (13 tests)

• 🎙️ Voice control and transcription

  • Kyutai/Mimi model integration for on-device STT
  • Wake word detection
  • Voice command pipeline integration
  • Mock voice system for testing

• 📷 Stereo vision and depth perception

  • Dual camera calibration
  • Real-time depth estimation
  • AprilTag detection for precise positioning
  • Camera quality improvements

• 🔌 CAN bus device control

  • ODrive motor controller support
  • T-Motor AK80-9 actuator support
  • SLCAN protocol implementation
  • Device registry with YAML configuration

• 🧠 Continual learning framework

  • On-device model updates with OFT adapters
  • Human intervention learning
  • Reward modeling from preferences
  • Data collection pipeline

• 🗣️ Intent parsing and action mapping

  • Natural language to robot action conversion
  • Entity extraction and command parsing
  • VLA integration for high-level control

Code Quality Improvements:

• ✅ 100% test pass rate across all crates
• ✅ Zero compilation errors and warnings
• ✅ No unsafe unwrap/expect/panic in production code
• ✅ Comprehensive error handling with Result types
• ✅ 34+ new unit tests added for critical components
• ✅ All async traits properly implemented
• ✅ Production-ready implementations (no placeholders)

Testing Coverage:

• safety-guard: 13/13 tests passing
• vla-policy: 21/21 tests passing
• intent-parser: 1/1 test passing
• voice-local: doctests fixed
• All other crates compile cleanly

Infrastructure:

• 📦 Rust workspace architecture for modular development
• 🔧 Comprehensive Makefile for Mac/GPU operations
• 🐳 Docker support for policy servers
• 📝 Extensive documentation across all modules
• 🔍 Comprehensive .gitignore for Rust/Python/Docker projects

This commit establishes a production-ready foundation for the Saorsa Robotics system with emphasis on safety, reliability, and operational functionality.

🤖 Generated with Claude Code