Metadata-Version: 2.4
Name: forge-policy
Version: 2.0.0
Summary: Reusable policy node protocol and Dora runner for Forge robotics applications.
Author: X-ERA
License-Expression: Apache-2.0
License-File: LICENSE
Requires-Dist: dora-rs>=1.0,<2
Requires-Dist: forge-msgs>=2.0.0,<3
Requires-Python: >=3.12
Project-URL: Changelog, https://gitlab.ex-ai.cn/PhyAgentOS/framework/forge/-/blob/master/CHANGELOG.md
Project-URL: Issues, https://gitlab.ex-ai.cn/PhyAgentOS/framework/forge/-/issues
Project-URL: Repository, https://gitlab.ex-ai.cn/PhyAgentOS/framework/forge
Description-Content-Type: text/markdown

# forge-policy

通用 Policy Operator 节点协议与 Dora runner。具体算法只需要实现 `PolicyAdapter` 插件接口，并提供关节动作构造函数和输入映射；runner 负责处理 `tick`、`proprio_state`、图像缓存、`PolicyCommand` 生命周期命令和可选的 `PolicyCommandStatus` 输出。

这里的 `PolicyAdapter` 是 Operator 节点内部的算法插件名称，不表示该 Dora 节点属于 Adapter 类别。Forge 的节点分类见仓库根目录 [Forge Node Model](https://github.com/Forgelab-Robotics/forge/blob/master/README.md#forge-node-model)。
