@holoscript/robotics-plugin 1.0.0 → 2.0.1

package/examples/robot-arm-complete.holo

@@ -1,199 +0,0 @@
-/**
- * Complete Robotics Example: 2-DOF Robot Arm
- * Demonstrates compile-time (USD/URDF) + runtime (ROS2/VR control)
- *
- * Features:
- * - @ros_node: ROS2 runtime integration
- * - @gazebo_sim: Gazebo physics simulation
- * - @urdf_export: Export to URDF format
- * - @robot_joint: Articulated joints with limits
- * - VR teleoperation: Control robot with VR controllers
- */
-
-scene "Robotics Lab" {
-  background: "#1a1a2e";
-  lighting: "industrial";
-  camera_position: [2, 1.5, 3];
-}
-
-// 2-DOF Robot Arm with ROS2 integration
-object "TwoLinkArm" @ros_node @gazebo_sim @urdf_export {
-  // ROS2 configuration
-  ros_bridge_url: "ws://localhost:9090",
-  namespace: "/robot_arm",
-  tf_prefix: "arm_",
-
-  // Gazebo simulation
-  gazebo_world: "empty.world",
-  physics_engine: "ode",
-  gravity: [0, 0, -9.81],
-
-  // Robot structure
-  links: [
-    {
-      name: "base_link",
-      visual: {
-        geometry: "cylinder",
-        dimensions: [0.1, 0.05],
-        material: "steel",
-      },
-      collision: { geometry: "cylinder", dimensions: [0.1, 0.05] },
-      inertial: { mass: 1.0, inertia: [0.01, 0.01, 0.01, 0, 0, 0] },
-      position: [0, 0, 0],
-    },
-    {
-      name: "link1",
-      visual: {
-        geometry: "box",
-        dimensions: [0.05, 0.05, 0.5],
-        material: "aluminum",
-      },
-      collision: { geometry: "box", dimensions: [0.05, 0.05, 0.5] },
-      inertial: { mass: 0.5, inertia: [0.01, 0.01, 0.001, 0, 0, 0] },
-    },
-    {
-      name: "link2",
-      visual: {
-        geometry: "box",
-        dimensions: [0.05, 0.05, 0.4],
-        material: "carbon_fiber",
-      },
-      collision: { geometry: "box", dimensions: [0.05, 0.05, 0.4] },
-      inertial: { mass: 0.3, inertia: [0.005, 0.005, 0.001, 0, 0, 0] },
-    },
-  ],
-
-  // Joints with actuators
-  joints: [
-    {
-      name: "shoulder_joint",
-      type: "revolute",
-      parent: "base_link",
-      child: "link1",
-      axis: [0, 0, 1],
-      origin: { position: [0, 0, 0.05], rotation: [0, 0, 0] },
-      limits: { lower: -3.14, upper: 3.14, effort: 10.0, velocity: 2.0 },
-      actuator: {
-        type: "position",
-        kp: 100.0,
-        kd: 10.0,
-      },
-    },
-    {
-      name: "elbow_joint",
-      type: "revolute",
-      parent: "link1",
-      child: "link2",
-      axis: [0, 1, 0],
-      origin: { position: [0, 0, 0.5], rotation: [0, 0, 0] },
-      limits: { lower: -2.0, upper: 2.0, effort: 5.0, velocity: 1.5 },
-      actuator: {
-        type: "position",
-        kp: 50.0,
-        kd: 5.0,
-      },
-    },
-  ],
-
-  // VR teleoperation
-  vr_control: {
-    enabled: true,
-    controller_mapping: {
-      left_hand: "shoulder_joint",  // Left VR controller → shoulder
-      right_hand: "elbow_joint",     // Right VR controller → elbow
-    },
-    force_feedback: true,            // Haptic feedback when robot hits limits
-    inverse_kinematics: true,        // IK solver for end-effector control
-  },
-
-  // Digital twin sync
-  twin_sync: {
-    enabled: true,
-    sync_rate: 30,  // 30 Hz (sync every 33ms)
-    bidirectional: true,  // Real robot ↔ VR twin
-    sensors: [
-      { type: "joint_states", topic: "/joint_states" },
-      { type: "tf", topic: "/tf" },
-    ],
-  },
-
-  // Export options
-  export: {
-    urdf: "build/two_link_arm.urdf",
-    sdf: "build/two_link_arm.sdf",
-    usd: "build/two_link_arm.usd",  // For NVIDIA Isaac Sim
-    mjcf: "build/two_link_arm.xml",  // For MuJoCo
-  },
-}
-
-// Example 2: Mobile robot (differential drive)
-object "MobileBot" @ros_node @gazebo_sim {
-  ros_bridge_url: "ws://localhost:9090",
-  namespace: "/mobile_bot",
-
-  // Chassis
-  links: [
-    {
-      name: "chassis",
-      visual: { geometry: "box", dimensions: [0.4, 0.3, 0.1], material: "plastic" },
-      inertial: { mass: 5.0 },
-    },
-    {
-      name: "left_wheel",
-      visual: { geometry: "cylinder", dimensions: [0.1, 0.05], material: "rubber" },
-      inertial: { mass: 0.5 },
-    },
-    {
-      name: "right_wheel",
-      visual: { geometry: "cylinder", dimensions: [0.1, 0.05], material: "rubber" },
-      inertial: { mass: 0.5 },
-    },
-  ],
-
-  joints: [
-    {
-      name: "left_wheel_joint",
-      type: "continuous",
-      parent: "chassis",
-      child: "left_wheel",
-      axis: [0, 1, 0],
-      actuator: { type: "velocity" },
-    },
-    {
-      name: "right_wheel_joint",
-      type: "continuous",
-      parent: "chassis",
-      child: "right_wheel",
-      axis: [0, 1, 0],
-      actuator: { type: "velocity" },
-    },
-  ],
-
-  // Differential drive controller
-  drive_controller: {
-    type: "diff_drive",
-    wheel_separation: 0.3,
-    wheel_radius: 0.1,
-    max_velocity: 1.0,  // m/s
-    max_angular_velocity: 2.0,  // rad/s
-  },
-
-  // Sensors
-  sensors: [
-    {
-      name: "lidar",
-      type: "laser",
-      update_rate: 10,
-      topic: "/scan",
-      range: { min: 0.1, max: 10.0 },
-      fov: 360,
-    },
-    {
-      name: "camera",
-      type: "camera",
-      update_rate: 30,
-      topic: "/camera/image_raw",
-      resolution: [640, 480],
-    },
-  ],
-}

package/python/ros2_bridge.py

@@ -1,77 +0,0 @@
-#!/usr/bin/env python3
-"""
-ROS2 Bridge for HoloScript Robotics Plugin
-Runtime integration with ROS2 via rosbridge_server
-
-Requirements:
-  pip install roslibpy
-
-Usage:
-  from ros2_bridge import ROS2Bridge
-
-  bridge = ROS2Bridge('ws://localhost:9090')
-  bridge.connect()
-  bridge.publish_joint_command('/joint_states', {...})
-"""
-
-import sys
-import json
-from typing import Dict, Any, List
-import roslibpy
-
-class ROS2Bridge:
-    """ROS2 runtime bridge for HoloScript robotics"""
-
-    def __init__(self, ros_bridge_url: str = 'ws://localhost:9090'):
-        self.ros_bridge_url = ros_bridge_url
-        self.client = None
-        self.subscribers = {}
-        self.publishers = {}
-
-    def connect(self) -> Dict[str, Any]:
-        """Connect to ROS2 via rosbridge_server"""
-        try:
-            self.client = roslibpy.Ros(host=self.ros_bridge_url.replace('ws://', '').split(':')[0],
-                                       port=int(self.ros_bridge_url.split(':')[-1]))
-            self.client.run()
-
-            return {
-                'status': 'success',
-                'connected': self.client.is_connected,
-                'url': self.ros_bridge_url,
-            }
-        except Exception as e:
-            return {
-                'status': 'failed',
-                'error': str(e),
-            }
-
-    def publish_joint_command(self, topic: str, joint_positions: Dict[str, float]) -> Dict[str, Any]:
-        """Publish joint command to ROS2 topic"""
-        try:
-            if topic not in self.publishers:
-                self.publishers[topic] = roslibpy.Topic(self.client, topic, 'sensor_msgs/JointState')
-
-            msg = {
-                'name': list(joint_positions.keys()),
-                'position': list(joint_positions.values()),
-            }
-
-            self.publishers[topic].publish(roslibpy.Message(msg))
-
-            return {'status': 'success', 'topic': topic}
-        except Exception as e:
-            return {'status': 'failed', 'error': str(e)}
-
-    def get_status(self) -> Dict[str, Any]:
-        """Get bridge status"""
-        return {
-            'connected': self.client.is_connected if self.client else False,
-            'url': self.ros_bridge_url,
-            'version': '1.0.0',
-        }
-
-if __name__ == '__main__':
-    bridge = ROS2Bridge()
-    status = bridge.connect()
-    print(f"ROS2 Bridge: {status}")