@holoscript/robotics-plugin 2.0.1 → 2.0.2

package/package.json

@@ -1,8 +1,14 @@
 {
   "name": "@holoscript/robotics-plugin",
-  "version": "2.0.1",
+  "version": "2.0.2",
   "description": "HoloScript plugin for robotics: compile-time USD/URDF codegen + runtime ROS2/Gazebo integration. VR robot programming and digital twins.",
   "main": "src/index.ts",
+  "scripts": {
+    "build": "tsc",
+    "test": "vitest run",
+    "clean": "rimraf dist",
+    "test:coverage": "vitest run --coverage"
+  },
   "keywords": [
     "holoscript",
     "plugin",
@@ -17,15 +23,9 @@
   "author": "HoloScript Contributors",
   "license": "MIT",
   "peerDependencies": {
-    "@holoscript/core": "8.0.6"
+    "@holoscript/core": ">=8.0.0"
   },
   "engines": {
     "node": ">=20.0.0"
-  },
-  "scripts": {
-    "build": "tsc",
-    "test": "vitest run",
-    "clean": "rimraf dist",
-    "test:coverage": "vitest run --coverage"
   }
-}
+}

package/src/__tests__/isaac-lab-interop.test.ts

@@ -92,12 +92,7 @@ describe('Isaac Lab Interop (Path A)', () => {
       expect(ast.domainRandomization?.actuator?.kdNoise).toBe(0.05);
       expect(ast.domainRandomization?.initialState?.jointPosRange?.joint1).toEqual([-0.1, 0.1]);
       expect(ast.domainRandomization?.initialState?.rootPoseRange).toEqual([
-        -0.5,
-        0.5,
-        -0.5,
-        0.5,
-        0,
-        1,
+        -0.5, 0.5, -0.5, 0.5, 0, 1,
       ]);
     });
 
@@ -133,8 +128,12 @@ describe('Isaac Lab Interop (Path A)', () => {
       expect(usd).toContain('# Generated for Isaac Lab 2.3');
       expect(usd).toContain('metersPerUnit = 1.0');
       expect(usd).toContain('kilogramsPerMass = 1.0');
-      expect(usd).toContain('# Units: meters, kilograms, seconds; HoloScript angular inputs are radians.');
-      expect(usd).toContain('prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]');
+      expect(usd).toContain(
+        '# Units: meters, kilograms, seconds; HoloScript angular inputs are radians.'
+      );
+      expect(usd).toContain(
+        'prepend apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"]'
+      );
       expect(usd).toContain('bool physxArticulation:articulationEnabled = true');
       expect(usd).not.toContain('physxArticulation:jointFriction');
     });
@@ -142,7 +141,9 @@ describe('Isaac Lab Interop (Path A)', () => {
     it('emits applied DriveAPI and PhysxJointAxisAPI schemas on actuated joints', () => {
       const usd = new USDCodeGen().generate(parseHoloScript());
 
-      expect(usd).toContain('prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysxJointAxisAPI:angular"]');
+      expect(usd).toContain(
+        'prepend apiSchemas = ["PhysicsDriveAPI:angular", "PhysxJointAxisAPI:angular"]'
+      );
       expect(usd).toContain('float drive:angular:physics:stiffness = 100');
       expect(usd).toContain('float drive:angular:physics:damping = 10');
       expect(usd).toContain('float drive:angular:physics:maxForce = 50');
@@ -173,7 +174,9 @@ describe('Isaac Lab Interop (Path A)', () => {
       expect(usd).toContain('#   kpNoise: 0.1');
       expect(usd).toContain('#   kdNoise: 0.05');
       expect(usd).toContain('custom float holoscript:isaacLab:actuatorLatencySeconds = 0.005');
-      expect(usd).toContain('#   arm_group: type=DelayedPDActuator joints=[joint1, joint2, joint3]');
+      expect(usd).toContain(
+        '#   arm_group: type=DelayedPDActuator joints=[joint1, joint2, joint3]'
+      );
     });
 
     it('disables DriveAPI and PhysX joint-axis output when configured off', () => {

package/src/ast.ts

@@ -43,7 +43,12 @@ export interface DomainRandomizationConfig {
 
 export interface ActuatorGroupConfig {
   name: string;
-  type: 'IdealPDActuator' | 'DCMotorActuator' | 'DelayedPDActuator' | 'RemotizedPDActuator' | 'ImplicitActuator';
+  type:
+    | 'IdealPDActuator'
+    | 'DCMotorActuator'
+    | 'DelayedPDActuator'
+    | 'RemotizedPDActuator'
+    | 'ImplicitActuator';
   jointNames: string[];
   stiffness?: number;
   damping?: number;

package/src/index.ts

@@ -148,15 +148,16 @@ function asString(value: unknown, fallback: string): string {
 
 function asVec3(value: unknown, fallback: [number, number, number]): [number, number, number] {
   if (Array.isArray(value) && value.length >= 3) {
-    return [asNumber(value[0], fallback[0]), asNumber(value[1], fallback[1]), asNumber(value[2], fallback[2])];
+    return [
+      asNumber(value[0], fallback[0]),
+      asNumber(value[1], fallback[1]),
+      asNumber(value[2], fallback[2]),
+    ];
   }
   return fallback;
 }
 
-function asJointLimits(
-  value: unknown,
-  fallback: RobotJoint['limits']
-): RobotJoint['limits'] {
+function asJointLimits(value: unknown, fallback: RobotJoint['limits']): RobotJoint['limits'] {
   if (Array.isArray(value) && value.length >= 4) {
     return {
       lower: asNumber(value[0], fallback?.lower ?? -1.57),
@@ -179,7 +180,10 @@ function asJointLimits(
   return fallback;
 }
 
-function findTrait(node: HoloCompositionNodeLike, predicate: (normalizedName: string) => boolean): TraitMatch | null {
+function findTrait(
+  node: HoloCompositionNodeLike,
+  predicate: (normalizedName: string) => boolean
+): TraitMatch | null {
   for (const trait of node.traits ?? []) {
     const normalizedName = normalizeTraitName(trait.name);
     if (predicate(normalizedName)) {
@@ -193,11 +197,7 @@ function findTrait(node: HoloCompositionNodeLike, predicate: (normalizedName: st
 function getJointTrait(node: HoloCompositionNodeLike): TraitMatch | null {
   return findTrait(
     node,
-    (name) =>
-      name === 'joint' ||
-      name === 'hinge' ||
-      name === 'slider' ||
-      name.startsWith('joint_')
+    (name) => name === 'joint' || name === 'hinge' || name === 'slider' || name.startsWith('joint_')
   );
 }
 
@@ -213,7 +213,9 @@ function jointTypeFromTrait(
   nodeProps: Record<string, unknown>,
   defaultJointType: RobotJoint['type']
 ): RobotJoint['type'] {
-  const explicitType = normalizeTraitName(asString(nodeProps.joint_type ?? nodeProps.type, defaultJointType));
+  const explicitType = normalizeTraitName(
+    asString(nodeProps.joint_type ?? nodeProps.type, defaultJointType)
+  );
 
   switch (explicitType) {
     case 'revolute':
@@ -246,7 +248,9 @@ function jointTypeFromTrait(
 function hardwareInterfaceFromMotor(
   motorProps: Record<string, unknown>
 ): RobotTransmission['hardwareInterface'] {
-  const commandMode = normalizeTraitName(asString(motorProps.commandMode ?? motorProps.mode, 'position'));
+  const commandMode = normalizeTraitName(
+    asString(motorProps.commandMode ?? motorProps.mode, 'position')
+  );
 
   if (commandMode === 'velocity') return 'velocity';
   if (commandMode === 'effort' || commandMode === 'torque') return 'effort';
@@ -291,8 +295,14 @@ function createTransmission(
   return {
     name: sanitizeRobotName(asString(motorProps.name, `${jointName}_transmission`)),
     joint: jointName,
-    actuator: sanitizeRobotName(asString(motorProps.actuator ?? motorProps.name, `${jointName}_motor`)),
-    mechanicalReduction: Number((asNumber(motorProps.mechanicalReduction ?? motorProps.gearRatio, 1) * hardwareScale).toFixed(6)),
+    actuator: sanitizeRobotName(
+      asString(motorProps.actuator ?? motorProps.name, `${jointName}_motor`)
+    ),
+    mechanicalReduction: Number(
+      (asNumber(motorProps.mechanicalReduction ?? motorProps.gearRatio, 1) * hardwareScale).toFixed(
+        6
+      )
+    ),
     hardwareInterface: hardwareInterfaceFromMotor(motorProps),
   };
 }
@@ -321,7 +331,9 @@ function buildLinkXml(link: RobotLink): string {
 
   if (link.collision) {
     lines.push('    <collision>');
-    lines.push(`      <geometry><mesh filename="${xmlEscape(link.collision.geometry)}"/></geometry>`);
+    lines.push(
+      `      <geometry><mesh filename="${xmlEscape(link.collision.geometry)}"/></geometry>`
+    );
     lines.push('    </collision>');
   }
 
@@ -383,10 +395,7 @@ export function extractURDFFromHoloComposition(
   const joints: RobotJoint[] = [];
   const transmissions: RobotTransmission[] = [];
 
-  const visitNode = (
-    node: HoloCompositionNodeLike,
-    parentLinkName: string | null
-  ) => {
+  const visitNode = (node: HoloCompositionNodeLike, parentLinkName: string | null) => {
     const props = asRecord(node.properties);
     const link = mapNodeToRobotLink(node, hardwareScale);
     links.push(link);
@@ -529,7 +538,7 @@ export function generateIsaacLabFeed(
   };
 
   // Simple content hashes for the receipt (evidence loop)
-  const sourceHoloHash = `holo:${ast.name}:${(ast.objects?.length || 0)}`;
+  const sourceHoloHash = `holo:${ast.name}:${ast.objects?.length || 0}`;
   const usdHash = `usd:${usd.length}`;
   const configHash = `cfg:${JSON.stringify(taskConfig).length}`;
 
@@ -540,7 +549,8 @@ export function generateIsaacLabFeed(
     generatedAt: new Date().toISOString(),
     isaacLabVersion: version,
     readyForTraining: true,
-    notes: 'Narrow feed bundle — assets + randomization + actuator config. Policy training & real-robot eval are downstream.',
+    notes:
+      'Narrow feed bundle — assets + randomization + actuator config. Policy training & real-robot eval are downstream.',
   };
 
   return {

package/src/parser.ts

@@ -6,7 +6,13 @@
  */
 
 import { Token, TokenType } from './lexer';
-import { CompositionNode, ObjectNode, PropertyValue, DomainRandomizationConfig, ActuatorGroupConfig } from './ast';
+import {
+  CompositionNode,
+  ObjectNode,
+  PropertyValue,
+  DomainRandomizationConfig,
+  ActuatorGroupConfig,
+} from './ast';
 
 export class Parser {
   private tokens: Token[];
@@ -74,8 +80,10 @@ export class Parser {
       this.currentToken().type !== TokenType.EOF
     ) {
       // Check for domain_randomization block at composition level
-      if (this.currentToken().type === TokenType.IDENTIFIER &&
-          this.currentToken().value === 'domain_randomization') {
+      if (
+        this.currentToken().type === TokenType.IDENTIFIER &&
+        this.currentToken().value === 'domain_randomization'
+      ) {
         this.advance();
         this.expect(TokenType.COLON);
         domainRandomization = this.parseDomainRandomizationBlock();
@@ -125,15 +133,19 @@ export class Parser {
         }
       }
       // Check for domain_randomization block
-      else if (this.currentToken().type === TokenType.IDENTIFIER &&
-          this.currentToken().value === 'domain_randomization') {
+      else if (
+        this.currentToken().type === TokenType.IDENTIFIER &&
+        this.currentToken().value === 'domain_randomization'
+      ) {
         this.advance();
         this.expect(TokenType.COLON);
         domainRandomization = this.parseDomainRandomizationBlock();
       }
       // Check for actuator_group block
-      else if (this.currentToken().type === TokenType.IDENTIFIER &&
-               this.currentToken().value === 'actuator_group') {
+      else if (
+        this.currentToken().type === TokenType.IDENTIFIER &&
+        this.currentToken().value === 'actuator_group'
+      ) {
         this.advance();
         this.expect(TokenType.COLON);
         const group = this.parseActuatorGroupBlock();

package/src/traits/ROS2HardwareLoopTrait.ts

@@ -18,9 +18,19 @@ import type { TraitHandler, HSPlusNode, TraitContext, TraitEvent } from './types
 export function createROS2HardwareLoopHandler(): TraitHandler<ROS2Config> {
   return {
     name: 'ros2_hardware_loop',
-    defaultConfig: { nodeName: 'holo_rig_01', topicPrefix: '/holo', updateFrequencyHz: 60, bidirectional: true },
+    defaultConfig: {
+      nodeName: 'holo_rig_01',
+      topicPrefix: '/holo',
+      updateFrequencyHz: 60,
+      bidirectional: true,
+    },
     onAttach(n: unknown, c: ROS2Config, ctx: unknown) {
-      (n as any).__ros2State = { connected: false, lastPingMs: 0, activeTopics: [], hardwareSyncDriftMs: 0 };
+      (n as any).__ros2State = {
+        connected: false,
+        lastPingMs: 0,
+        activeTopics: [],
+        hardwareSyncDriftMs: 0,
+      };
       (ctx as any).emit?.('ros2:init', { node: c.nodeName });
     },
     onDetach(n: unknown, _c: ROS2Config, ctx: unknown) {
@@ -32,38 +42,43 @@ export function createROS2HardwareLoopHandler(): TraitHandler<ROS2Config> {
       const s = (n as any).__ros2State as ROS2State;
       if (!s) return;
       const evt = e as any;
-      
+
       switch (evt.type) {
         case 'ros2:connect':
           s.connected = true;
           // In real usage, initializes rclnodejs bridge for pub/sub physics
           (ctx as any).emit?.('ros2:connected', { latencyMs: 12 });
           break;
-          
+
         case 'scene:transform_change':
           if (c.bidirectional && s.connected) {
             // Push virtual set transform to physical robot joint
-            (ctx as any).emit?.('ros2:publish', { topic: `${c.topicPrefix}/joint_cmd`, payload: evt.payload });
+            (ctx as any).emit?.('ros2:publish', {
+              topic: `${c.topicPrefix}/joint_cmd`,
+              payload: evt.payload,
+            });
           }
-           break;
-           
+          break;
+
         case 'ros2:telemetry':
           // Receive physical robot telemetry to drive virtual set
           s.hardwareSyncDriftMs = Math.abs(Date.now() - (evt.payload.timestamp || Date.now()));
-          (n as any).transform = evt.payload.transform; 
+          (n as any).transform = evt.payload.transform;
           break;
-          
+
         case 'ttu:manifested':
           // Dynamically bind to Text-To-Universe AST streams
           const crdtRoot = evt.payload?.crdtRoot;
           if (crdtRoot && s.connected) {
-             const dynamicTopic = `${c.topicPrefix}/ttu_sync/${crdtRoot}`;
-             s.activeTopics.push(dynamicTopic);
-             (ctx as any).emit?.('ros2:subscribe', { topic: dynamicTopic });
-             (ctx as any).emit?.('ros2:log', { message: `Bridged digital twin for TTU root: ${crdtRoot}` });
+            const dynamicTopic = `${c.topicPrefix}/ttu_sync/${crdtRoot}`;
+            s.activeTopics.push(dynamicTopic);
+            (ctx as any).emit?.('ros2:subscribe', { topic: dynamicTopic });
+            (ctx as any).emit?.('ros2:log', {
+              message: `Bridged digital twin for TTU root: ${crdtRoot}`,
+            });
           }
           break;
       }
-    }
+    },
   };
 }

package/src/usd-codegen.ts

@@ -61,7 +61,9 @@ export class USDCodeGen {
     // Isaac Lab header comment
     this.emit(`# Generated for Isaac Lab ${this.config.isaacLabVersion}`);
     this.emit('# Units: meters, kilograms, seconds; HoloScript angular inputs are radians.');
-    this.emit('# USD angular joint limits and velocities are exported in degrees per OpenUSD/PhysX.');
+    this.emit(
+      '# USD angular joint limits and velocities are exported in degrees per OpenUSD/PhysX.'
+    );
 
     // Emit domain randomization config as USD comments (for Isaac Lab Python codegen)
     if (ast.domainRandomization) {
@@ -316,7 +318,9 @@ export class USDCodeGen {
     const schemas = this.getJointApiSchemas(joint, axisToken);
 
     this.emit('');
-    this.emit(`def ${joint.kind === 'prismatic' ? 'PhysicsPrismaticJoint' : 'PhysicsRevoluteJoint'} "${joint.name}"`);
+    this.emit(
+      `def ${joint.kind === 'prismatic' ? 'PhysicsPrismaticJoint' : 'PhysicsRevoluteJoint'} "${joint.name}"`
+    );
     if (schemas.length > 0) {
       this.emit('(');
       this.indentLevel++;
@@ -361,8 +365,12 @@ export class USDCodeGen {
     const limits = joint.props.joint_limits || joint.props.limits;
     if (limits) {
       const limitsVec = limits as number[];
-      this.emit(`float physics:lowerLimit = ${this.formatNumber(this.convertJointScalar(limitsVec[0], joint.kind))}`);
-      this.emit(`float physics:upperLimit = ${this.formatNumber(this.convertJointScalar(limitsVec[1], joint.kind))}`);
+      this.emit(
+        `float physics:lowerLimit = ${this.formatNumber(this.convertJointScalar(limitsVec[0], joint.kind))}`
+      );
+      this.emit(
+        `float physics:upperLimit = ${this.formatNumber(this.convertJointScalar(limitsVec[1], joint.kind))}`
+      );
     }
     this.emit('');
 
@@ -374,7 +382,9 @@ export class USDCodeGen {
 
     const velocity = this.numberProp(joint.props, 'max_velocity');
     if (velocity !== undefined) {
-      this.emit(`float physics:maxVelocity = ${this.formatNumber(this.convertJointScalar(velocity, joint.kind))}`);
+      this.emit(
+        `float physics:maxVelocity = ${this.formatNumber(this.convertJointScalar(velocity, joint.kind))}`
+      );
     }
 
     // OpenUSD PhysicsDriveAPI attributes for PD actuator control.
@@ -406,7 +416,9 @@ export class USDCodeGen {
     const latency = this.numberProp(joint.props, 'actuator_latency', 'latency');
     if (latency !== undefined) {
       this.emit('');
-      this.emit('# Isaac Lab delayed actuator hint; convert seconds to delay steps in task config.');
+      this.emit(
+        '# Isaac Lab delayed actuator hint; convert seconds to delay steps in task config.'
+      );
       this.emit(`custom float holoscript:isaacLab:actuatorLatencySeconds = ${latency}`);
     }
 
@@ -468,7 +480,10 @@ export class USDCodeGen {
   }
 
   private hasDriveProperties(props: Record<string, PropertyValue>): boolean {
-    return this.numberProp(props, 'kp', 'stiffness', 'kd', 'damping', 'joint_effort', 'max_effort') !== undefined;
+    return (
+      this.numberProp(props, 'kp', 'stiffness', 'kd', 'damping', 'joint_effort', 'max_effort') !==
+      undefined
+    );
   }
 
   private hasPhysxJointAxisProperties(props: Record<string, PropertyValue>): boolean {
@@ -505,13 +520,17 @@ export class USDCodeGen {
       this.emit(`float physxJointAxis:${axisToken}:dynamicFrictionEffort = ${dynamicFriction}`);
     }
     if (viscousFriction !== undefined) {
-      this.emit(`float physxJointAxis:${axisToken}:viscousFrictionCoefficient = ${viscousFriction}`);
+      this.emit(
+        `float physxJointAxis:${axisToken}:viscousFrictionCoefficient = ${viscousFriction}`
+      );
     }
     if (armature !== undefined) {
       this.emit(`float physxJointAxis:${axisToken}:armature = ${armature}`);
     }
     if (velocity !== undefined) {
-      this.emit(`float physxJointAxis:${axisToken}:maxJointVelocity = ${this.formatNumber(this.convertJointScalar(velocity, kind))}`);
+      this.emit(
+        `float physxJointAxis:${axisToken}:maxJointVelocity = ${this.formatNumber(this.convertJointScalar(velocity, kind))}`
+      );
     }
   }
 
@@ -570,13 +589,19 @@ export class USDCodeGen {
         this.emit(`#   massScale: [${dr.physics.massScale[0]}, ${dr.physics.massScale[1]}]`);
       }
       if (dr.physics.frictionRange) {
-        this.emit(`#   frictionRange: [${dr.physics.frictionRange[0]}, ${dr.physics.frictionRange[1]}]`);
+        this.emit(
+          `#   frictionRange: [${dr.physics.frictionRange[0]}, ${dr.physics.frictionRange[1]}]`
+        );
       }
       if (dr.physics.dampingRange) {
-        this.emit(`#   dampingRange: [${dr.physics.dampingRange[0]}, ${dr.physics.dampingRange[1]}]`);
+        this.emit(
+          `#   dampingRange: [${dr.physics.dampingRange[0]}, ${dr.physics.dampingRange[1]}]`
+        );
       }
       if (dr.physics.armatureRange) {
-        this.emit(`#   armatureRange: [${dr.physics.armatureRange[0]}, ${dr.physics.armatureRange[1]}]`);
+        this.emit(
+          `#   armatureRange: [${dr.physics.armatureRange[0]}, ${dr.physics.armatureRange[1]}]`
+        );
       }
     }
     if (dr.actuator) {
@@ -612,10 +637,14 @@ export class USDCodeGen {
     if (dr.disturbance) {
       this.emit('# disturbance:');
       if (dr.disturbance.forceRange) {
-        this.emit(`#   forceRange: [${dr.disturbance.forceRange[0]}, ${dr.disturbance.forceRange[1]}]`);
+        this.emit(
+          `#   forceRange: [${dr.disturbance.forceRange[0]}, ${dr.disturbance.forceRange[1]}]`
+        );
       }
       if (dr.disturbance.intervalRange) {
-        this.emit(`#   intervalRange: [${dr.disturbance.intervalRange[0]}, ${dr.disturbance.intervalRange[1]}]`);
+        this.emit(
+          `#   intervalRange: [${dr.disturbance.intervalRange[0]}, ${dr.disturbance.intervalRange[1]}]`
+        );
       }
     }
   }

package/LICENSE

@@ -1,21 +0,0 @@
-MIT License
-
-Copyright (c) 2025-2026 HoloScript Contributors
-
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
-
-The above copyright notice and this permission notice shall be included in all
-copies or substantial portions of the Software.
-
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
-SOFTWARE.

package/dist/ast.d.ts

@@ -1,69 +0,0 @@
-/**
- * Abstract Syntax Tree (AST) node types for HoloScript robotics
- *
- * Extended for Isaac Lab sim-to-real interop (Path A):
- * - Domain randomization blocks
- * - Actuator group configurations
- * - Delayed actuator export hints
- */
-export type PropertyValue = string | number | boolean | number[] | PropertyValue[];
-export interface DomainRandomizationConfig {
-    /** Physics randomization: mass, friction, damping */
-    physics?: {
-        massScale?: [number, number];
-        frictionRange?: [number, number];
-        dampingRange?: [number, number];
-        armatureRange?: [number, number];
-    };
-    /** Actuator randomization */
-    actuator?: {
-        kpNoise?: number;
-        kdNoise?: number;
-        latencyNoise?: number;
-    };
-    /** Observation noise */
-    observation?: {
-        jointPosNoise?: number;
-        jointVelNoise?: number;
-        imuNoise?: number;
-    };
-    /** Initial state randomization */
-    initialState?: {
-        jointPosRange?: Record<string, [number, number]>;
-        rootPoseRange?: [number, number, number, number, number, number];
-    };
-    /** Disturbance forces */
-    disturbance?: {
-        forceRange?: [number, number];
-        intervalRange?: [number, number];
-    };
-}
-export interface ActuatorGroupConfig {
-    name: string;
-    type: 'IdealPDActuator' | 'DCMotorActuator' | 'DelayedPDActuator' | 'RemotizedPDActuator' | 'ImplicitActuator';
-    jointNames: string[];
-    stiffness?: number;
-    damping?: number;
-    friction?: number;
-    latency?: number;
-}
-export interface ObjectNode {
-    type: 'object';
-    name: string;
-    traits: string[];
-    properties: Record<string, PropertyValue>;
-    domainRandomization?: DomainRandomizationConfig;
-    actuatorGroups?: ActuatorGroupConfig[];
-    template?: string;
-    line?: number;
-    column?: number;
-}
-export interface CompositionNode {
-    type: 'composition';
-    name: string;
-    objects: ObjectNode[];
-    domainRandomization?: DomainRandomizationConfig;
-    line?: number;
-    column?: number;
-}
-export type ASTNode = CompositionNode | ObjectNode;

package/dist/ast.js

@@ -1,9 +0,0 @@
-/**
- * Abstract Syntax Tree (AST) node types for HoloScript robotics
- *
- * Extended for Isaac Lab sim-to-real interop (Path A):
- * - Domain randomization blocks
- * - Actuator group configurations
- * - Delayed actuator export hints
- */
-export {};