@holoscript/robotics-plugin 1.0.0 → 2.0.2

package/dist/index.d.ts

@@ -1,58 +0,0 @@
-/**
- * @holoscript/robotics-plugin v1.0.0
- * Complete robotics solution: Compile-time (USD/URDF) + Runtime (ROS2/Gazebo)
- *
- * Features:
- * - USD codegen for NVIDIA Isaac Sim (from holoscript-compiler)
- * - URDF/SDF export for ROS2/Gazebo
- * - ROS2 runtime integration (roslibjs)
- * - VR teleoperation and digital twins
- *
- * @packageDocumentation
- */
-export { USDCodeGen } from './usd-codegen';
-export { Lexer, Token, TokenType } from './lexer';
-export { Parser } from './parser';
-export * from './ast';
-export interface ROS2Config {
-    ros_bridge_url: string;
-    namespace?: string;
-    tf_prefix?: string;
-}
-export interface GazeboConfig {
-    world_file?: string;
-    model_sdf?: string;
-    spawn_position?: [number, number, number];
-}
-export interface RobotJoint {
-    name: string;
-    type: 'revolute' | 'prismatic' | 'fixed' | 'continuous';
-    parent_link: string;
-    child_link: string;
-    axis?: [number, number, number];
-    limits?: {
-        lower: number;
-        upper: number;
-        effort: number;
-        velocity: number;
-    };
-}
-export interface RobotLink {
-    name: string;
-    inertial?: {
-        mass: number;
-        inertia: number[];
-    };
-    visual?: {
-        geometry: string;
-        material?: string;
-    };
-    collision?: {
-        geometry: string;
-    };
-}
-export declare const VERSION = "1.0.0";
-declare const _default: {
-    VERSION: string;
-};
-export default _default;

package/dist/index.js

@@ -1,44 +0,0 @@
-"use strict";
-/**
- * @holoscript/robotics-plugin v1.0.0
- * Complete robotics solution: Compile-time (USD/URDF) + Runtime (ROS2/Gazebo)
- *
- * Features:
- * - USD codegen for NVIDIA Isaac Sim (from holoscript-compiler)
- * - URDF/SDF export for ROS2/Gazebo
- * - ROS2 runtime integration (roslibjs)
- * - VR teleoperation and digital twins
- *
- * @packageDocumentation
- */
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    var desc = Object.getOwnPropertyDescriptor(m, k);
-    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
-      desc = { enumerable: true, get: function() { return m[k]; } };
-    }
-    Object.defineProperty(o, k2, desc);
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __exportStar = (this && this.__exportStar) || function(m, exports) {
-    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.VERSION = exports.Parser = exports.TokenType = exports.Lexer = exports.USDCodeGen = void 0;
-// Compile-time: USD/URDF codegen (from holoscript-compiler)
-var usd_codegen_1 = require("./usd-codegen");
-Object.defineProperty(exports, "USDCodeGen", { enumerable: true, get: function () { return usd_codegen_1.USDCodeGen; } });
-var lexer_1 = require("./lexer");
-Object.defineProperty(exports, "Lexer", { enumerable: true, get: function () { return lexer_1.Lexer; } });
-Object.defineProperty(exports, "TokenType", { enumerable: true, get: function () { return lexer_1.TokenType; } });
-var parser_1 = require("./parser");
-Object.defineProperty(exports, "Parser", { enumerable: true, get: function () { return parser_1.Parser; } });
-__exportStar(require("./ast"), exports);
-// Version
-exports.VERSION = '1.0.0';
-// Re-export for convenience
-exports.default = {
-    VERSION: exports.VERSION,
-};

package/dist/lexer.d.ts

@@ -1,52 +0,0 @@
-/**
- * HoloScript Lexer (Tokenizer)
- *
- * Converts HoloScript source code into a stream of tokens for parsing.
- * Supports: keywords, identifiers, traits (@trait), strings, numbers, symbols
- */
-export declare enum TokenType {
-    KEYWORD = "KEYWORD",// composition, object, using, template, group
-    IDENTIFIER = "IDENTIFIER",// variable_name, link1, base
-    TRAIT = "TRAIT",// @joint_revolute, @force_sensor
-    STRING = "STRING",// "Base", "metal", "cylinder"
-    NUMBER = "NUMBER",// 0.1, 3.14, 100, -2.0
-    LBRACE = "LBRACE",// {
-    RBRACE = "RBRACE",// }
-    LBRACKET = "LBRACKET",// [
-    RBRACKET = "RBRACKET",// ]
-    COLON = "COLON",// :
-    COMMA = "COMMA",// ,
-    COMMENT = "COMMENT",// // comment
-    EOF = "EOF"
-}
-export interface Token {
-    type: TokenType;
-    value: string;
-    line: number;
-    column: number;
-}
-export declare class Lexer {
-    private source;
-    private position;
-    private line;
-    private column;
-    private tokens;
-    private readonly keywords;
-    constructor(source: string);
-    tokenize(): Token[];
-    private scanToken;
-    private scanTrait;
-    private scanString;
-    private scanNumber;
-    private scanIdentifierOrKeyword;
-    private scanSymbol;
-    private skipWhitespace;
-    private skipComment;
-    private currentChar;
-    private peek;
-    private advance;
-    private isWhitespace;
-    private isDigit;
-    private isAlpha;
-    private isAlphaNumericOrUnderscore;
-}

package/dist/lexer.js

@@ -1,275 +0,0 @@
-"use strict";
-/**
- * HoloScript Lexer (Tokenizer)
- *
- * Converts HoloScript source code into a stream of tokens for parsing.
- * Supports: keywords, identifiers, traits (@trait), strings, numbers, symbols
- */
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.Lexer = exports.TokenType = void 0;
-var TokenType;
-(function (TokenType) {
-    // Keywords
-    TokenType["KEYWORD"] = "KEYWORD";
-    // Identifiers & Traits
-    TokenType["IDENTIFIER"] = "IDENTIFIER";
-    TokenType["TRAIT"] = "TRAIT";
-    TokenType["STRING"] = "STRING";
-    TokenType["NUMBER"] = "NUMBER";
-    // Symbols
-    TokenType["LBRACE"] = "LBRACE";
-    TokenType["RBRACE"] = "RBRACE";
-    TokenType["LBRACKET"] = "LBRACKET";
-    TokenType["RBRACKET"] = "RBRACKET";
-    TokenType["COLON"] = "COLON";
-    TokenType["COMMA"] = "COMMA";
-    // Special
-    TokenType["COMMENT"] = "COMMENT";
-    TokenType["EOF"] = "EOF";
-})(TokenType || (exports.TokenType = TokenType = {}));
-class Lexer {
-    constructor(source) {
-        this.position = 0;
-        this.line = 1;
-        this.column = 1;
-        this.tokens = [];
-        this.keywords = new Set([
-            'composition',
-            'object',
-            'using',
-            'template',
-            'group',
-            'scene',
-        ]);
-        this.source = source;
-    }
-    tokenize() {
-        while (this.position < this.source.length) {
-            this.scanToken();
-        }
-        this.tokens.push({
-            type: TokenType.EOF,
-            value: '',
-            line: this.line,
-            column: this.column,
-        });
-        return this.tokens;
-    }
-    scanToken() {
-        const char = this.currentChar();
-        // Skip whitespace
-        if (this.isWhitespace(char)) {
-            this.skipWhitespace();
-            return;
-        }
-        // Comments
-        if (char === '/' && this.peek() === '/') {
-            this.skipComment();
-            return;
-        }
-        // Traits (@identifier)
-        if (char === '@') {
-            this.scanTrait();
-            return;
-        }
-        // String literals ("...")
-        if (char === '"') {
-            this.scanString();
-            return;
-        }
-        // Numbers (0.1, 3.14, -2.0)
-        if (this.isDigit(char) || (char === '-' && this.isDigit(this.peek()))) {
-            this.scanNumber();
-            return;
-        }
-        // Keywords & Identifiers
-        if (this.isAlpha(char)) {
-            this.scanIdentifierOrKeyword();
-            return;
-        }
-        // Single-character tokens
-        this.scanSymbol(char);
-    }
-    scanTrait() {
-        const startLine = this.line;
-        const startColumn = this.column;
-        this.advance(); // Skip '@'
-        let trait = '';
-        while (this.position < this.source.length && this.isAlphaNumericOrUnderscore(this.currentChar())) {
-            trait += this.currentChar();
-            this.advance();
-        }
-        this.tokens.push({
-            type: TokenType.TRAIT,
-            value: trait,
-            line: startLine,
-            column: startColumn,
-        });
-    }
-    scanString() {
-        const startLine = this.line;
-        const startColumn = this.column;
-        this.advance(); // Skip opening "
-        let str = '';
-        while (this.position < this.source.length && this.currentChar() !== '"') {
-            if (this.currentChar() === '\\') {
-                // Handle escape sequences
-                this.advance();
-                if (this.position < this.source.length) {
-                    str += this.currentChar();
-                    this.advance();
-                }
-            }
-            else {
-                str += this.currentChar();
-                this.advance();
-            }
-        }
-        if (this.currentChar() === '"') {
-            this.advance(); // Skip closing "
-        }
-        else {
-            throw new Error(`Unterminated string at line ${startLine}, column ${startColumn}`);
-        }
-        this.tokens.push({
-            type: TokenType.STRING,
-            value: str,
-            line: startLine,
-            column: startColumn,
-        });
-    }
-    scanNumber() {
-        const startLine = this.line;
-        const startColumn = this.column;
-        let num = '';
-        // Handle negative sign
-        if (this.currentChar() === '-') {
-            num += this.currentChar();
-            this.advance();
-        }
-        // Integer part
-        while (this.position < this.source.length && this.isDigit(this.currentChar())) {
-            num += this.currentChar();
-            this.advance();
-        }
-        // Decimal part
-        if (this.currentChar() === '.' && this.isDigit(this.peek())) {
-            num += this.currentChar();
-            this.advance();
-            while (this.position < this.source.length && this.isDigit(this.currentChar())) {
-                num += this.currentChar();
-                this.advance();
-            }
-        }
-        this.tokens.push({
-            type: TokenType.NUMBER,
-            value: num,
-            line: startLine,
-            column: startColumn,
-        });
-    }
-    scanIdentifierOrKeyword() {
-        const startLine = this.line;
-        const startColumn = this.column;
-        let ident = '';
-        while (this.position < this.source.length && this.isAlphaNumericOrUnderscore(this.currentChar())) {
-            ident += this.currentChar();
-            this.advance();
-        }
-        const type = this.keywords.has(ident) ? TokenType.KEYWORD : TokenType.IDENTIFIER;
-        this.tokens.push({
-            type,
-            value: ident,
-            line: startLine,
-            column: startColumn,
-        });
-    }
-    scanSymbol(char) {
-        const symbolMap = {
-            '{': TokenType.LBRACE,
-            '}': TokenType.RBRACE,
-            '[': TokenType.LBRACKET,
-            ']': TokenType.RBRACKET,
-            ':': TokenType.COLON,
-            ',': TokenType.COMMA,
-        };
-        const tokenType = symbolMap[char];
-        if (tokenType) {
-            this.tokens.push({
-                type: tokenType,
-                value: char,
-                line: this.line,
-                column: this.column,
-            });
-            this.advance();
-        }
-        else {
-            throw new Error(`Unexpected character '${char}' at line ${this.line}, column ${this.column}`);
-        }
-    }
-    skipWhitespace() {
-        while (this.position < this.source.length && this.isWhitespace(this.currentChar())) {
-            if (this.currentChar() === '\n') {
-                this.line++;
-                this.column = 1;
-            }
-            else {
-                this.column++;
-            }
-            this.position++;
-        }
-    }
-    skipComment() {
-        // Skip until end of line
-        while (this.position < this.source.length && this.currentChar() !== '\n') {
-            this.position++;
-            this.column++;
-        }
-    }
-    currentChar() {
-        return this.source[this.position] || '';
-    }
-    peek(offset = 1) {
-        const peekPos = this.position + offset;
-        return this.source[peekPos] || '';
-    }
-    advance() {
-        this.position++;
-        this.column++;
-    }
-    isWhitespace(char) {
-        return /\s/.test(char);
-    }
-    isDigit(char) {
-        return /[0-9]/.test(char);
-    }
-    isAlpha(char) {
-        return /[a-z_]/i.test(char);
-    }
-    isAlphaNumericOrUnderscore(char) {
-        return /[a-z0-9_]/i.test(char);
-    }
-}
-exports.Lexer = Lexer;
-// Example usage
-if (require.main === module) {
-    const source = `
-composition "TwoLinkArm" {
-  object "Base" @static {
-    geometry: "cylinder"
-    dimensions: [0.1, 0.05]
-  }
-
-  object "Link1" @joint_revolute {
-    joint_axis: [0, 0, 1]
-    joint_limits: [-3.14, 3.14]
-  }
-}
-`;
-    const lexer = new Lexer(source);
-    const tokens = lexer.tokenize();
-    console.log('Tokens:');
-    tokens.forEach((token, i) => {
-        console.log(`${i}: ${token.type.padEnd(15)} "${token.value}" (L${token.line}:C${token.column})`);
-    });
-}

package/dist/parser.d.ts

@@ -1,22 +0,0 @@
-/**
- * HoloScript Parser
- *
- * Converts token stream into Abstract Syntax Tree (AST).
- * Uses recursive descent parsing.
- */
-import { Token } from './lexer';
-import { CompositionNode } from './ast';
-export declare class Parser {
-    private tokens;
-    private position;
-    constructor(tokens: Token[]);
-    parse(): CompositionNode;
-    private currentToken;
-    private peek;
-    private advance;
-    private expect;
-    private parseComposition;
-    private parseObject;
-    private parseValue;
-    private parseArray;
-}

package/dist/parser.js

@@ -1,202 +0,0 @@
-"use strict";
-/**
- * HoloScript Parser
- *
- * Converts token stream into Abstract Syntax Tree (AST).
- * Uses recursive descent parsing.
- */
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    var desc = Object.getOwnPropertyDescriptor(m, k);
-    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
-      desc = { enumerable: true, get: function() { return m[k]; } };
-    }
-    Object.defineProperty(o, k2, desc);
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
-    Object.defineProperty(o, "default", { enumerable: true, value: v });
-}) : function(o, v) {
-    o["default"] = v;
-});
-var __importStar = (this && this.__importStar) || (function () {
-    var ownKeys = function(o) {
-        ownKeys = Object.getOwnPropertyNames || function (o) {
-            var ar = [];
-            for (var k in o) if (Object.prototype.hasOwnProperty.call(o, k)) ar[ar.length] = k;
-            return ar;
-        };
-        return ownKeys(o);
-    };
-    return function (mod) {
-        if (mod && mod.__esModule) return mod;
-        var result = {};
-        if (mod != null) for (var k = ownKeys(mod), i = 0; i < k.length; i++) if (k[i] !== "default") __createBinding(result, mod, k[i]);
-        __setModuleDefault(result, mod);
-        return result;
-    };
-})();
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.Parser = void 0;
-const lexer_1 = require("./lexer");
-class Parser {
-    constructor(tokens) {
-        this.position = 0;
-        this.tokens = tokens;
-    }
-    parse() {
-        return this.parseComposition();
-    }
-    currentToken() {
-        const token = this.tokens[this.position];
-        if (!token) {
-            throw new Error('Unexpected end of input');
-        }
-        return token;
-    }
-    peek(offset = 1) {
-        const pos = this.position + offset;
-        const token = pos < this.tokens.length ? this.tokens[pos] : this.tokens[this.tokens.length - 1];
-        if (!token) {
-            throw new Error('Unexpected end of input');
-        }
-        return token;
-    }
-    advance() {
-        const token = this.currentToken();
-        this.position++;
-        return token;
-    }
-    expect(type, value) {
-        const token = this.currentToken();
-        if (token.type !== type) {
-            throw new Error(`Expected ${type}${value ? ` "${value}"` : ''} but got ${token.type} "${token.value}" at line ${token.line}, column ${token.column}`);
-        }
-        if (value !== undefined && token.value !== value) {
-            throw new Error(`Expected "${value}" but got "${token.value}" at line ${token.line}, column ${token.column}`);
-        }
-        return this.advance();
-    }
-    parseComposition() {
-        const startToken = this.expect(lexer_1.TokenType.KEYWORD, 'composition');
-        const name = this.expect(lexer_1.TokenType.STRING).value;
-        this.expect(lexer_1.TokenType.LBRACE);
-        const objects = [];
-        while (this.currentToken().type !== lexer_1.TokenType.RBRACE && this.currentToken().type !== lexer_1.TokenType.EOF) {
-            objects.push(this.parseObject());
-        }
-        this.expect(lexer_1.TokenType.RBRACE);
-        return {
-            type: 'composition',
-            name,
-            objects,
-            line: startToken.line,
-            column: startToken.column,
-        };
-    }
-    parseObject() {
-        const startToken = this.expect(lexer_1.TokenType.KEYWORD, 'object');
-        const name = this.expect(lexer_1.TokenType.STRING).value;
-        // Parse traits (@trait1 @trait2 ...)
-        const traits = [];
-        while (this.currentToken().type === lexer_1.TokenType.TRAIT) {
-            traits.push(this.advance().value);
-        }
-        this.expect(lexer_1.TokenType.LBRACE);
-        // Parse properties (key: value)
-        const properties = {};
-        while (this.currentToken().type !== lexer_1.TokenType.RBRACE && this.currentToken().type !== lexer_1.TokenType.EOF) {
-            const key = this.expect(lexer_1.TokenType.IDENTIFIER).value;
-            this.expect(lexer_1.TokenType.COLON);
-            const value = this.parseValue();
-            properties[key] = value;
-        }
-        this.expect(lexer_1.TokenType.RBRACE);
-        return {
-            type: 'object',
-            name,
-            traits,
-            properties,
-            line: startToken.line,
-            column: startToken.column,
-        };
-    }
-    parseValue() {
-        const token = this.currentToken();
-        // String value
-        if (token.type === lexer_1.TokenType.STRING) {
-            return this.advance().value;
-        }
-        // Number value
-        if (token.type === lexer_1.TokenType.NUMBER) {
-            return parseFloat(this.advance().value);
-        }
-        // Array value [1, 2, 3]
-        if (token.type === lexer_1.TokenType.LBRACKET) {
-            return this.parseArray();
-        }
-        // Function call (for future: diagonal([1, 2, 3]))
-        if (token.type === lexer_1.TokenType.IDENTIFIER && this.peek().type === lexer_1.TokenType.LBRACKET) {
-            this.advance(); // Skip function name for now
-            const args = this.parseArray();
-            // For now, treat function calls as arrays (e.g., diagonal([1,2,3]) -> [1,2,3])
-            // In future, could preserve function name metadata
-            return args;
-        }
-        throw new Error(`Unexpected value type ${token.type} "${token.value}" at line ${token.line}, column ${token.column}`);
-    }
-    parseArray() {
-        this.expect(lexer_1.TokenType.LBRACKET);
-        const values = [];
-        while (this.currentToken().type !== lexer_1.TokenType.RBRACKET && this.currentToken().type !== lexer_1.TokenType.EOF) {
-            if (this.currentToken().type === lexer_1.TokenType.NUMBER) {
-                values.push(parseFloat(this.advance().value));
-            }
-            else if (this.currentToken().type === lexer_1.TokenType.STRING) {
-                values.push(this.advance().value);
-            }
-            else if (this.currentToken().type === lexer_1.TokenType.LBRACKET) {
-                // Nested array
-                values.push(this.parseArray());
-            }
-            else {
-                throw new Error(`Unexpected token in array: ${this.currentToken().type} at line ${this.currentToken().line}`);
-            }
-            // Optional comma
-            if (this.currentToken().type === lexer_1.TokenType.COMMA) {
-                this.advance();
-            }
-        }
-        this.expect(lexer_1.TokenType.RBRACKET);
-        return values;
-    }
-}
-exports.Parser = Parser;
-// Example usage
-if (require.main === module) {
-    Promise.resolve().then(() => __importStar(require('./lexer'))).then(({ Lexer }) => {
-        const source = `
-composition "TwoLinkArm" {
-  object "Base" @static {
-    geometry: "cylinder"
-    dimensions: [0.1, 0.05]
-    material: "metal"
-  }
-
-  object "Link1" @joint_revolute {
-    joint_axis: [0, 0, 1]
-    joint_limits: [-3.14, 3.14]
-    joint_effort: 100
-  }
-}
-`;
-        const lexer = new Lexer(source);
-        const tokens = lexer.tokenize();
-        const parser = new Parser(tokens);
-        const ast = parser.parse();
-        console.log('AST:');
-        console.log(JSON.stringify(ast, null, 2));
-    });
-}

package/dist/usd-codegen.d.ts

@@ -1,18 +0,0 @@
-/**
- * HoloScript → USD Code Generator
- *
- * Generates Universal Scene Description (USD) files from HoloScript AST.
- * Targets NVIDIA Isaac Sim with UsdPhysics schema.
- */
-import { CompositionNode } from './ast';
-export declare class USDCodeGen {
-    private output;
-    private indentLevel;
-    generate(ast: CompositionNode): string;
-    private generateLink;
-    private generateJoint;
-    private indent;
-    private emit;
-    private geometryToUSD;
-    private vectorToAxisName;
-}