The duck detector comes from the Hub, the way the policies do

[apirrone]

mediad reads its model from /opt/robot/detector/current rather than from inside the release. The release's postinstall hook seeds that directory from a pin in [workspace.metadata.detector] (pollen-robotics/ microduck-duck-detector@duck-v1) with scripts/seed-detector.sh, which is seed-policies.sh with a fixed file list and the same rules: a floor not a ceiling, nothing partial goes live, never touch a set it did not install.

robotctl detect check and sudo robotctl detect update [--version] are policy check/update against the other root — new updaterd calls detector.check / detector.install (API v28), sharing the policy set's types, provenance record and install path. An install restarts mediad, which is where the model is loaded, and reports whether that took.

The 14 MB of vendored weights leave the repository and the three packaging sites; xtask holds the pin, the file list (script, updater, robotd-params) and the packaging together.

The model repo shares its name with the dataset repo. The robot only addresses the model (resolve/ without a datasets/ prefix, api/models/), which is written down where the URLs are built.

[github-actions]

Coverage

71.63% lines on this branch, against a floor of 70%.

Per-file

Filename                              Regions    Missed Regions     Cover   Functions  Missed Functions  Executed       Lines      Missed Lines     Cover    Branches   Missed Branches     Cover
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
btd/src/adv.rs                             79                 0   100.00%           9                 0   100.00%          42                 0   100.00%           0                 0         -
btd/src/bluez.rs                          482               482     0.00%          34                34     0.00%         314               314     0.00%           0                 0         -
btd/src/chorale.rs                        346               246    28.90%          23                13    43.48%         230               171    25.65%           0                 0         -
btd/src/framing.rs                        253                 9    96.44%          20                 1    95.00%         120                 5    95.83%           0                 0         -
btd/src/gatt.rs                             3                 0   100.00%           1                 0   100.00%           3                 0   100.00%           0                 0         -
btd/src/link.rs                            24                 0   100.00%           3                 0   100.00%          26                 0   100.00%           0                 0         -
btd/src/main.rs                            77                77     0.00%          11                11     0.00%          77                77     0.00%           0                 0         -
btd/src/pairing.rs                        149                 2    98.66%          12                 1    91.67%          81                 1    98.77%           0                 0         -
btd/src/route.rs                          352                32    90.91%          27                 0   100.00%         351                11    96.87%           0                 0         -
btd/src/session.rs                       1218                73    94.01%          71                 5    92.96%         706                41    94.19%           0                 0         -
btd/src/upstream.rs                       397                35    91.18%          34                 8    76.47%         241                19    92.12%           0                 0         -
configd/src/bluez.rs                      586               498    15.02%          85                79     7.06%         375               326    13.07%           0                 0         -
configd/src/identity.rs                   111                 5    95.50%          12                 1    91.67%          52                 3    94.23%           0                 0         -
configd/src/logs.rs                       314                33    89.49%          31                 3    90.32%         219                36    83.56%           0                 0         -
configd/src/main.rs                       515               515     0.00%          38                38     0.00%         345               345     0.00%           0                 0         -
configd/src/net.rs                        246                12    95.12%          38                 2    94.74%         181                 4    97.79%           0                 0         -
configd/src/nm.rs                         271               213    21.40%          43                39     9.30%         171               120    29.82%           0                 0         -
configd/src/pad.rs                        379                13    96.57%          38                 2    94.74%         222                 8    96.40%           0                 0         -
configd/src/power.rs                       30                30     0.00%           6                 6     0.00%          28                28     0.00%           0                 0         -
configd/src/store.rs                      350                25    92.86%          28                 2    92.86%         173                 9    94.80%           0                 0         -
configd/src/units.rs                      183               116    36.61%          24                18    25.00%         116                79    31.90%           0                 0         -
duck-control/src/bus.rs                   587               452    23.00%          52                37    28.85%         394               307    22.08%           0                 0         -
duck-control/src/fall.rs                  173                 0   100.00%          15                 0   100.00%         108                 0   100.00%           0                 0         -
duck-control/src/imu.rs                   370                 8    97.84%          20                 0   100.00%         195                 5    97.44%           0                 0         -
duck-control/src/io.rs                    134                19    85.82%          21                 5    76.19%         120                17    85.83%           0                 0         -
duck-control/src/model.rs                 120                 1    99.17%          15                 0   100.00%          73                 0   100.00%           0                 0         -
duck-control/src/obs.rs                   263                 6    97.72%          24                 2    91.67%         177                 8    95.48%           0                 0         -
duck-control/src/policy.rs                701               560    20.11%          67                47    29.85%         452               347    23.23%           0                 0         -
duck-control/src/safety.rs                450                13    97.11%          33                 2    93.94%         292                 6    97.95%           0                 0         -
duck-control/src/sim.rs                   426                63    85.21%          32                10    68.75%         233                40    82.83%           0                 0         -
duck-detect/src/bin/duck-bench.rs         306               306     0.00%          16                16     0.00%         170               170     0.00%           0                 0         -
duck-detect/src/lib.rs                    641                15    97.66%          27                 0   100.00%         333                 8    97.60%           0                 0         -
duck-detect/src/onnx.rs                    96                96     0.00%           5                 5     0.00%          52                52     0.00%           0                 0         -
duck-detect/src/rknn.rs                   267               237    11.24%          15                11    26.67%         216               195     9.72%           0                 0         -
duck-ether/src/main.rs                    504               404    19.84%          27                16    40.74%         270               217    19.63%           0                 0         -
duck-ipc-proto/src/lib.rs                2089               163    92.20%         133                13    90.23%        1530                88    94.25%           0                 0         -
duckctl/src/main.rs                      2473               998    59.64%         146                44    69.86%        1551               644    58.48%           0                 0         -
kinematics/src/hand.rs                    394                 2    99.49%          22                 2    90.91%         181                 2    98.90%           0                 0         -
kinematics/src/head.rs                    392                 9    97.70%          22                 0   100.00%         193                 4    97.93%           0                 0         -
kinematics/src/lib.rs                     348                10    97.13%          23                 1    95.65%         174                 7    95.98%           0                 0         -
kinematics/src/math.rs                    171                 0   100.00%          16                 0   100.00%          79                 0   100.00%           0                 0         -
kinematics/src/mjcf.rs                    233                32    86.27%          17                 1    94.12%         134                15    88.81%           0                 0         -
kinematics/src/tof.rs                     338                17    94.97%          14                 0   100.00%         184                10    94.57%           0                 0         -
mediad/src/camera.rs                      291                 5    98.28%          21                 0   100.00%         204                 5    97.55%           0                 0         -
mediad/src/config.rs                       87                 5    94.25%           7                 1    85.71%          46                 4    91.30%           0                 0         -
mediad/src/detect.rs                      293               222    24.23%          13                 9    30.77%         200               145    27.50%           0                 0         -
mediad/src/exposure.rs                    412               161    60.92%          28                 8    71.43%         279               110    60.57%           0                 0         -
mediad/src/main.rs                        376               376     0.00%          10                10     0.00%         254               254     0.00%           0                 0         -
mediad/src/pipeline.rs                   1622              1407    13.26%         108                86    20.37%        1051               902    14.18%           0                 0         -
mediad/src/producer.rs                    161                33    79.50%          20                 5    75.00%         109                20    81.65%           0                 0         -
mediad/src/relay.rs                      2217               234    89.45%         179                28    84.36%        1448               171    88.19%           0                 0         -
mediad/src/route.rs                       180                19    89.44%          12                 0   100.00%         155                 8    94.84%           0                 0         -
mediad/src/session.rs                     671                21    96.87%          37                 0   100.00%         427                18    95.78%           0                 0         -
mediad/src/stream.rs                      826               129    84.38%          55                 9    83.64%         521                87    83.30%           0                 0         -
mediad/src/turn.rs                        420                31    92.62%          39                 3    92.31%         254                16    93.70%           0                 0         -
mediad/src/upstream.rs                    263                16    93.92%          17                 1    94.12%         160                12    92.50%           0                 0         -
mediad/src/web.rs                         119                26    78.15%          15                 4    73.33%          82                17    79.27%           0                 0         -
odometry/src/lib.rs                       321                 5    98.44%          22                 1    95.45%         192                 7    96.35%           0                 0         -
pad-imu/src/lib.rs                        608                 7    98.85%          39                 0   100.00%         372                 5    98.66%           0                 0         -
padd/src/main.rs                         1088               606    44.30%          36                13    63.89%         664               417    37.20%           0                 0         -
padd/src/tap.rs                          1253               682    45.57%          73                36    50.68%         767               407    46.94%           0                 0         -
pet-detect/src/bin/detect.rs               61                61     0.00%           1                 1     0.00%          38                38     0.00%           0                 0         -
pet-detect/src/bin/features.rs             46                46     0.00%           2                 2     0.00%          20                20     0.00%           0                 0         -
pet-detect/src/lib.rs                     362               184    49.17%          27                13    51.85%         224               122    45.54%           0                 0         -
pet-detect/src/worker.rs                  381               230    39.63%          24                14    41.67%         276               160    42.03%           0                 0         -
robotctl/src/configure.rs                1596               477    70.11%          61                12    80.33%         820               322    60.73%           0                 0         -
robotctl/src/duck.rs                     1211               144    88.11%          63                 1    98.41%         604                47    92.22%           0                 0         -
robotctl/src/imu_view.rs                  266                25    90.60%          19                 2    89.47%         173                19    89.02%           0                 0         -
robotctl/src/main.rs                     5141              2779    45.94%         282               131    53.55%        3497              1885    46.10%           0                 0         -
robotctl/src/monitor.rs                  4308               748    82.64%         222                36    83.78%        2721               477    82.47%           0                 0         -
robotctl/src/path_map.rs                  425                59    86.12%          24                 2    91.67%         223                36    83.86%           0                 0         -
robotctl/src/show.rs                      714                46    93.56%          31                 1    96.77%         509                25    95.09%           0                 0         -
robotd-params/src/edit.rs                1904               120    93.70%         114                14    87.72%         929                52    94.40%           0                 0         -
robotd-params/src/lib.rs                 1976                95    95.19%         182                 9    95.05%        1414                55    96.11%           0                 0         -
robotd-params/src/registry.rs             193                10    94.82%          15                 2    86.67%         144                17    88.19%           0                 0         -
robotd/src/chorale.rs                    1366                30    97.80%          71                 4    94.37%         826                20    97.58%           0                 0         -
robotd/src/control.rs                     450               411     8.67%          29                24    17.24%         355               307    13.52%           0                 0         -
robotd/src/intents.rs                     419                74    82.34%          48                 9    81.25%         308                49    84.09%           0                 0         -
robotd/src/main.rs                       7308              1611    77.96%         356                54    84.83%        4724              1028    78.24%           0                 0         -
robotd/src/soc.rs                          47                25    46.81%           4                 1    75.00%          30                15    50.00%           0                 0         -
robotd/src/sound.rs                       968               692    28.51%          50                34    32.00%         565               420    25.66%           0                 0         -
robotd/src/theremin.rs                    472               112    76.27%          32                12    62.50%         271                64    76.38%           0                 0         -
sounds/src/chorale/beat.rs                403                16    96.03%          26                 1    96.15%         246                12    95.12%           0                 0         -
sounds/src/chorale/midi.rs               1047                80    92.36%          44                 2    95.45%         581                43    92.60%           0                 0         -
sounds/src/chorale/mod.rs                1423                57    95.99%          83                 3    96.39%         812                41    94.95%           0                 0         -
sounds/src/chorale/text.rs                700                60    91.43%          41                12    70.73%         376                17    95.48%           0                 0         -
sounds/src/lib.rs                         167                35    79.04%          14                 6    57.14%          87                21    75.86%           0                 0         -
sounds/src/main.rs                        463               463     0.00%          20                20     0.00%         240               240     0.00%           0                 0         -
sounds/src/personality.rs                 174                 0   100.00%           6                 0   100.00%          84                 0   100.00%           0                 0         -
sounds/src/rng.rs                         173                 0   100.00%          18                 0   100.00%          96                 0   100.00%           0                 0         -
sounds/src/stream.rs                      719                 7    99.03%          46                 1    97.83%         420                 6    98.57%           0                 0         -
sounds/src/synth.rs                       353                 7    98.02%          29                 0   100.00%         197                 3    98.48%           0                 0         -
sounds/src/voices.rs                      679                 2    99.71%          26                 0   100.00%         353                 2    99.43%           0                 0         -
test-support/src/lib.rs                   272                 2    99.26%          22                 0   100.00%         167                 0   100.00%           0                 0         -
tof/src/config.rs                          42                 8    80.95%           4                 1    75.00%          23                 7    69.57%           0                 0         -
tof/src/imu.rs                            223               153    31.39%          10                 5    50.00%         137                93    32.12%           0                 0         -
tof/src/lib.rs                             88                 0   100.00%           9                 0   100.00%          54                 0   100.00%           0                 0         -
tof/src/main.rs                           770               687    10.78%          37                26    29.73%         481               437     9.15%           0                 0         -
tof/src/sensor.rs                         230               148    35.65%          22                15    31.82%         163               114    30.06%           0                 0         -
tof/src/status.rs                          76                 2    97.37%           7                 1    85.71%          58                 1    98.28%           0                 0         -
updater/src/account.rs                     87                 0   100.00%           9                 0   100.00%          76                 0   100.00%           0                 0         -
updater/src/config.rs                     436                24    94.50%          38                 4    89.47%         354                17    95.20%           0                 0         -
updater/src/engine.rs                    3265               499    84.72%         217                29    86.64%        2117               313    85.21%           0                 0         -
updater/src/faults.rs                      69                 7    89.86%           7                 0   100.00%          51                 0   100.00%           0                 0         -
updater/src/fsutil.rs                     104                30    71.15%          10                 6    40.00%          51                24    52.94%           0                 0         -
updater/src/hooks.rs                      454                15    96.70%          37                 2    94.59%         382                12    96.86%           0                 0         -
updater/src/ipc.rs                        925               333    64.00%          67                20    70.15%         569               179    68.54%           0                 0         -
updater/src/journal.rs                    832                78    90.62%          57                10    82.46%         483                53    89.03%           0                 0         -
updater/src/lib.rs                         55                16    70.91%           5                 0   100.00%          41                14    65.85%           0                 0         -
updater/src/main.rs                       550               222    59.64%          38                14    63.16%         420               151    64.05%           0                 0         -
updater/src/manifest.rs                   159                 6    96.23%          16                 0   100.00%         110                 1    99.09%           0                 0         -
updater/src/orphan.rs                     288                 6    97.92%          25                 0   100.00%         181                 3    98.34%           0                 0         -
updater/src/policy.rs                    1549               599    61.33%         124                52    58.06%         830               344    58.55%           0                 0         -
updater/src/preflight.rs                  382                16    95.81%          47                 4    91.49%         284                11    96.13%           0                 0         -
updater/src/reconcile.rs                  292                15    94.86%          25                 3    88.00%         172                 5    97.09%           0                 0         -
updater/src/robot.rs                      225                33    85.33%          37                10    72.97%         139                21    84.89%           0                 0         -
updater/src/source/github.rs              474               169    64.35%          51                26    49.02%         304                99    67.43%           0                 0         -
updater/src/source/hf_hub.rs              136                72    47.06%          20                12    40.00%          81                41    49.38%           0                 0         -
updater/src/source/http.rs                319                82    74.29%          29                11    62.07%         260                88    66.15%           0                 0         -
updater/src/source/local.rs               346                37    89.31%          36                 9    75.00%         192                26    86.46%           0                 0         -
updater/src/source/mod.rs                  39                30    23.08%           4                 2    50.00%          30                24    20.00%           0                 0         -
updater/src/spawn.rs                       94                13    86.17%           5                 0   100.00%          49                 4    91.84%           0                 0         -
updater/src/store.rs                      593                41    93.09%          43                 7    83.72%         271                42    84.50%           0                 0         -
updater/src/transcript.rs                 518                42    91.89%          31                 3    90.32%         290                22    92.41%           0                 0         -
updater/src/unix.rs                        44                 3    93.18%           3                 0   100.00%          22                 2    90.91%           0                 0         -
updater/src/verify.rs                     786                95    87.91%          55                18    67.27%         424                75    82.31%           0                 0         -
-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------
TOTAL                                   79686             22001    72.39%        5238              1402    73.23%       49798             14130    71.63%           0                 0         -