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

.env.example

@@ -1,5 +1,10 @@
 # ---- Shared ----
 LOG_DIR="$HOME/.saorsa/logs"
+# STT (Kyutai Moshi)
+KYUTAI_MOSHI_URL=ws://localhost:8000/stream
+KYUTAI_API_KEY=
+HUGGINGFACEHUB_API_TOKEN=
+HF_INFERENCE_URL=https://api-inference.huggingface.co/models/kyutai/stt-2.6b-en
 
 # ---- Policy server (GPU host) ----
 POLICY_SERVER_HOST=127.0.0.1
@@ -32,4 +37,4 @@ ARM04_CAM_INDEX=3
 
 # ---- Async policy execution ----
 ACTIONS_PER_CHUNK=40
-CHUNK_SIZE_THRESHOLD=0.6
+CHUNK_SIZE_THRESHOLD=0.6

.github/workflows/ci.yml

@@ -0,0 +1,42 @@
+name: CI
+
+on:
+  push:
+    branches: [ main, master ]
+  pull_request:
+    branches: [ main, master ]
+
+jobs:
+  rust:
+    name: Rust Build, Fmt, Clippy
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Install Rust toolchain
+        uses: dtolnay/rust-toolchain@stable
+        with:
+          components: clippy, rustfmt
+
+      - name: Cache cargo
+        uses: Swatinem/rust-cache@v2
+
+      - name: Build
+        env:
+          RUSTFLAGS: -D warnings
+        run: |
+          cargo build --workspace --all-targets
+
+      - name: Format check
+        run: cargo fmt --all -- --check
+
+      - name: Clippy (strict)
+        run: |
+          cargo clippy --all-features -- -D clippy::panic -D clippy::unwrap_used -D clippy::expect_used
+

.gitignore

@@ -1,4 +1,27 @@
 
+# Rust
+# Generated by Cargo
+# will have compiled files and executables
+debug/
+target/
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# MSVC Windows builds of rustc generate these, which store debugging information
+*.pdb
+
+# Cargo
+Cargo.lock
+# Remove the above line if you're creating a library
+
+# RustRover
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+.idea/
+
 # Python
 __pycache__/
 *.py[cod]
@@ -14,18 +37,76 @@ venv/
 ENV/
 env/
 .env
+*.pyc
+*.pyo
+*.pyd
+.pytest_cache/
+.tox/
+.coverage
+htmlcov/
+.hypothesis/
+*.ipynb_checkpoints
+.mypy_cache/
+.dmypy.json
+dmypy.json
+.pyre/
+.pytype/
+*.sage.py
+celerybeat-schedule
+celerybeat.pid
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+instance/
+.webassets-cache
+.scrapy
+docs/_build/
+.pybuilder/
+target/
+profile_default/
+ipython_config.py
+__pypackages__/
+celerybeat-schedule
+*.sage.py
+.spyderproject
+.spyproject
+.ropeproject
+site
+.pdm.toml
+.pdm-python
+.pdm-build/
 
 # macOS
 .DS_Store
 .AppleDouble
 .LSOverride
 ._*
 
+# Docker
+.dockerignore
+*.tar
+docker-compose.override.yml
+docker-compose.*.yml
+
 # IDE
 .idea/
 *.swp
 *.swo
 *~
+.vscode/
+*.sublime-project
+*.sublime-workspace
+.project
+.classpath
+.settings/
+*.iml
+*.ipr
+*.iws
+.nb-gradle/
+.metadata
+*.launch
+.buildpath
 
 # Claude helper script
 .claude-check
@@ -67,7 +148,6 @@ temp/
 
 # Jupyter
 .ipynb_checkpoints/
-*.ipynb
 
 # Coverage
 htmlcov/

AGENTS.md

@@ -0,0 +1,38 @@
+# AGENTS.md - Saorsa Robotics Development Guide
+
+## Build/Lint/Test Commands
+
+**Rust (Workspace):**
+- Build: `cargo build --workspace --all-targets`
+- Format: `cargo fmt --all`
+- Lint: `cargo clippy --all-features -- -D clippy::panic -D clippy::unwrap_used -D clippy::expect_used`
+- Test all: `cargo test --workspace`
+- Test single: `cargo test --package <crate-name> <test_name>`
+- All: `make rust-all`
+
+**Python:**
+- Lint: `ruff check .`
+- Format: `black .`
+- Test: `python -m pytest` (if available)
+
+## Code Style Guidelines
+
+**Rust:**
+- **Error Handling:** Use `Result<T, E>` with `?` operator. Never use `unwrap()`, `expect()`, or `panic!()` in production code
+- **Imports:** Group std, external crates, then local modules. Use explicit imports
+- **Naming:** snake_case for functions/variables, PascalCase for types, SCREAMING_SNAKE_CASE for constants
+- **Documentation:** Use `//!` for module docs, `///` for public items
+- **Safety:** `unsafe` blocks require justification and extensive review
+
+**Python:**
+- **Line Length:** 100 characters (ruff/black)
+- **Imports:** Standard library first, then third-party, then local. One import per line
+- **Naming:** snake_case for functions/variables, PascalCase for classes, UPPER_CASE for constants
+- **Types:** Use type hints for all function parameters and return values
+- **Error Handling:** Use specific exceptions, avoid bare `except:`
+- **Documentation:** Use docstrings for all public functions/classes
+
+**General:**
+- **Commits:** Use conventional commits (feat:, fix:, docs:, etc.)
+- **Testing:** Write tests for all new functionality. Aim for >85% coverage
+- **Security:** Never log secrets, validate all inputs, use secure dependencies