@holoscript/robotics-plugin 2.0.1 → 2.0.2

package/dist/index.d.ts

@@ -1,127 +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)
- *   - Isaac Lab sim-to-real interop (Path A)
- *   - PhysicsDriveAPI for PD actuator control
- *   - PhysxJointAxisAPI for per-axis friction assumptions
- *   - Domain randomization configuration blocks
- * - URDF/SDF export for ROS2/Gazebo
- * - ROS2 runtime integration (roslibjs)
- * - VR teleoperation and digital twins
- *
- * @packageDocumentation
- */
-export { USDCodeGen } from './usd-codegen';
-export type { IsaacLabConfig } from './usd-codegen';
-export { Lexer, TokenType } from './lexer';
-export type { Token } from './lexer';
-export { Parser } from './parser';
-export * from './ast';
-export type { DomainRandomizationConfig, ActuatorGroupConfig } from './ast';
-import type { CompositionNode, DomainRandomizationConfig, ActuatorGroupConfig } 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 interface RobotTransmission {
-    name: string;
-    joint: string;
-    actuator: string;
-    mechanicalReduction: number;
-    hardwareInterface: 'position' | 'velocity' | 'effort';
-}
-export interface HoloTraitLike {
-    name: string;
-    properties?: Record<string, unknown>;
-}
-export interface HoloCompositionNodeLike {
-    id?: string;
-    name: string;
-    type?: string;
-    properties?: Record<string, unknown>;
-    traits?: HoloTraitLike[];
-    children?: HoloCompositionNodeLike[];
-}
-export interface HoloCompositionTreeLike {
-    name: string;
-    children?: HoloCompositionNodeLike[];
-}
-export interface ExtractedRobotModel {
-    name: string;
-    links: RobotLink[];
-    joints: RobotJoint[];
-    transmissions: RobotTransmission[];
-    xml: string;
-}
-export interface URDFExtractionOptions {
-    defaultJointType?: RobotJoint['type'];
-    defaultAxis?: [number, number, number];
-    baseLinkName?: string;
-    hardwareScale?: number;
-}
-export declare function buildURDFXML(model: Omit<ExtractedRobotModel, 'xml'>): string;
-export declare function extractURDFFromHoloComposition(composition: HoloCompositionTreeLike, options?: URDFExtractionOptions): ExtractedRobotModel;
-export * from './traits/ROS2HardwareLoopTrait';
-export declare const VERSION = "1.0.0";
-declare const _default: {
-    VERSION: string;
-    buildURDFXML: typeof buildURDFXML;
-    extractURDFFromHoloComposition: typeof extractURDFFromHoloComposition;
-    generateIsaacLabFeed: typeof generateIsaacLabFeed;
-};
-export default _default;
-export interface IsaacLabFeedReceipt {
-    sourceHoloHash: string;
-    usdHash: string;
-    configHash: string;
-    generatedAt: string;
-    isaacLabVersion: string;
-    readyForTraining: boolean;
-    notes: string;
-}
-export interface IsaacLabFeedBundle {
-    usd: string;
-    taskConfig: Record<string, unknown>;
-    randomization: DomainRandomizationConfig | undefined;
-    actuators: ActuatorGroupConfig[];
-    receipt: IsaacLabFeedReceipt;
-}
-export declare function generateIsaacLabFeed(ast: CompositionNode, opts?: {
-    isaacLabVersion?: string;
-}): IsaacLabFeedBundle;

package/dist/index.js

@@ -1,349 +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)
- *   - Isaac Lab sim-to-real interop (Path A)
- *   - PhysicsDriveAPI for PD actuator control
- *   - PhysxJointAxisAPI for per-axis friction assumptions
- *   - Domain randomization configuration blocks
- * - URDF/SDF export for ROS2/Gazebo
- * - ROS2 runtime integration (roslibjs)
- * - VR teleoperation and digital twins
- *
- * @packageDocumentation
- */
-// Compile-time: USD/URDF codegen (from holoscript-compiler)
-export { USDCodeGen } from './usd-codegen';
-export { Lexer, TokenType } from './lexer';
-export { Parser } from './parser';
-export * from './ast';
-import { USDCodeGen } from './usd-codegen';
-const DEFAULT_URDF_AXIS = [0, 0, 1];
-function normalizeTraitName(name) {
-    return name.replace(/^@/, '').trim().toLowerCase();
-}
-function sanitizeRobotName(name) {
-    return name.trim().replace(/[^A-Za-z0-9_]+/g, '_') || 'robot';
-}
-function xmlEscape(value) {
-    return value
-        .replace(/&/g, '&')
-        .replace(/</g, '&lt;')
-        .replace(/>/g, '&gt;')
-        .replace(/"/g, '&quot;')
-        .replace(/'/g, '&apos;');
-}
-function asRecord(value) {
-    return value && typeof value === 'object' && !Array.isArray(value)
-        ? value
-        : {};
-}
-function asNumber(value, fallback) {
-    return typeof value === 'number' && Number.isFinite(value) ? value : fallback;
-}
-function asString(value, fallback) {
-    return typeof value === 'string' && value.trim().length > 0 ? value : fallback;
-}
-function asVec3(value, fallback) {
-    if (Array.isArray(value) && value.length >= 3) {
-        return [asNumber(value[0], fallback[0]), asNumber(value[1], fallback[1]), asNumber(value[2], fallback[2])];
-    }
-    return fallback;
-}
-function asJointLimits(value, fallback) {
-    if (Array.isArray(value) && value.length >= 4) {
-        return {
-            lower: asNumber(value[0], fallback?.lower ?? -1.57),
-            upper: asNumber(value[1], fallback?.upper ?? 1.57),
-            effort: asNumber(value[2], fallback?.effort ?? 10),
-            velocity: asNumber(value[3], fallback?.velocity ?? 1),
-        };
-    }
-    const record = asRecord(value);
-    if (Object.keys(record).length > 0) {
-        return {
-            lower: asNumber(record.lower, fallback?.lower ?? -1.57),
-            upper: asNumber(record.upper, fallback?.upper ?? 1.57),
-            effort: asNumber(record.effort, fallback?.effort ?? 10),
-            velocity: asNumber(record.velocity, fallback?.velocity ?? 1),
-        };
-    }
-    return fallback;
-}
-function findTrait(node, predicate) {
-    for (const trait of node.traits ?? []) {
-        const normalizedName = normalizeTraitName(trait.name);
-        if (predicate(normalizedName)) {
-            return { normalizedName, trait };
-        }
-    }
-    return null;
-}
-function getJointTrait(node) {
-    return findTrait(node, (name) => name === 'joint' ||
-        name === 'hinge' ||
-        name === 'slider' ||
-        name.startsWith('joint_'));
-}
-function getMotorTrait(node) {
-    return findTrait(node, (name) => name === 'motor' || name === 'servo' || name === 'actuator' || name.endsWith('_motor'));
-}
-function jointTypeFromTrait(jointTrait, nodeProps, defaultJointType) {
-    const explicitType = normalizeTraitName(asString(nodeProps.joint_type ?? nodeProps.type, defaultJointType));
-    switch (explicitType) {
-        case 'revolute':
-        case 'prismatic':
-        case 'fixed':
-        case 'continuous':
-            return explicitType;
-        case 'hinge':
-            return 'revolute';
-        case 'slider':
-            return 'prismatic';
-    }
-    switch (jointTrait?.normalizedName) {
-        case 'joint_revolute':
-        case 'hinge':
-            return 'revolute';
-        case 'joint_prismatic':
-        case 'slider':
-            return 'prismatic';
-        case 'joint_continuous':
-            return 'continuous';
-        case 'joint_fixed':
-            return 'fixed';
-        default:
-            return defaultJointType;
-    }
-}
-function hardwareInterfaceFromMotor(motorProps) {
-    const commandMode = normalizeTraitName(asString(motorProps.commandMode ?? motorProps.mode, 'position'));
-    if (commandMode === 'velocity')
-        return 'velocity';
-    if (commandMode === 'effort' || commandMode === 'torque')
-        return 'effort';
-    return 'position';
-}
-function scaleMass(mass, hardwareScale) {
-    return Number((mass * Math.pow(hardwareScale, 3)).toFixed(6));
-}
-function mapNodeToRobotLink(node, hardwareScale) {
-    const props = asRecord(node.properties);
-    const baseMass = asNumber(props.mass, 1);
-    const inertia = Array.isArray(props.inertia)
-        ? props.inertia.map((value) => asNumber(value, 0))
-        : [0.01, 0.01, 0.01, 0, 0, 0];
-    const geometry = asString(props.geometry, node.type ?? 'box');
-    const material = typeof props.material === 'string' ? props.material : undefined;
-    const collisionGeometry = asString(props.collisionGeometry ?? props.geometry, geometry);
-    return {
-        name: sanitizeRobotName(node.name || node.id || 'link'),
-        inertial: {
-            mass: scaleMass(baseMass, hardwareScale),
-            inertia,
-        },
-        visual: {
-            geometry,
-            material,
-        },
-        collision: {
-            geometry: collisionGeometry,
-        },
-    };
-}
-function createTransmission(jointName, motorProps, hardwareScale) {
-    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)),
-        hardwareInterface: hardwareInterfaceFromMotor(motorProps),
-    };
-}
-function buildLinkXml(link) {
-    const lines = [`  <link name="${xmlEscape(link.name)}">`];
-    if (link.inertial) {
-        const [ixx = 0.01, iyy = 0.01, izz = 0.01, ixy = 0, ixz = 0, iyz = 0] = link.inertial.inertia;
-        lines.push('    <inertial>');
-        lines.push(`      <mass value="${link.inertial.mass}"/>`);
-        lines.push(`      <inertia ixx="${ixx}" iyy="${iyy}" izz="${izz}" ixy="${ixy}" ixz="${ixz}" iyz="${iyz}"/>`);
-        lines.push('    </inertial>');
-    }
-    if (link.visual) {
-        lines.push('    <visual>');
-        lines.push(`      <geometry><mesh filename="${xmlEscape(link.visual.geometry)}"/></geometry>`);
-        if (link.visual.material) {
-            lines.push(`      <material name="${xmlEscape(link.visual.material)}"/>`);
-        }
-        lines.push('    </visual>');
-    }
-    if (link.collision) {
-        lines.push('    <collision>');
-        lines.push(`      <geometry><mesh filename="${xmlEscape(link.collision.geometry)}"/></geometry>`);
-        lines.push('    </collision>');
-    }
-    lines.push('  </link>');
-    return lines.join('\n');
-}
-function buildJointXml(joint) {
-    const lines = [`  <joint name="${xmlEscape(joint.name)}" type="${joint.type}">`];
-    lines.push(`    <parent link="${xmlEscape(joint.parent_link)}"/>`);
-    lines.push(`    <child link="${xmlEscape(joint.child_link)}"/>`);
-    if (joint.axis) {
-        lines.push(`    <axis xyz="${joint.axis.join(' ')}"/>`);
-    }
-    if (joint.limits && joint.type !== 'fixed') {
-        lines.push(`    <limit lower="${joint.limits.lower}" upper="${joint.limits.upper}" effort="${joint.limits.effort}" velocity="${joint.limits.velocity}"/>`);
-    }
-    lines.push('  </joint>');
-    return lines.join('\n');
-}
-function buildTransmissionXml(transmission) {
-    return [
-        `  <transmission name="${xmlEscape(transmission.name)}">`,
-        '    <type>transmission_interface/SimpleTransmission</type>',
-        `    <joint name="${xmlEscape(transmission.joint)}">`,
-        `      <hardwareInterface>${transmission.hardwareInterface}</hardwareInterface>`,
-        '    </joint>',
-        `    <actuator name="${xmlEscape(transmission.actuator)}">`,
-        '      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>',
-        `      <mechanicalReduction>${transmission.mechanicalReduction}</mechanicalReduction>`,
-        '    </actuator>',
-        '  </transmission>',
-    ].join('\n');
-}
-export function buildURDFXML(model) {
-    const lines = [`<robot name="${xmlEscape(model.name)}">`];
-    lines.push(...model.links.map(buildLinkXml));
-    lines.push(...model.joints.map(buildJointXml));
-    lines.push(...model.transmissions.map(buildTransmissionXml));
-    lines.push('</robot>');
-    return lines.join('\n');
-}
-export function extractURDFFromHoloComposition(composition, options = {}) {
-    const defaultJointType = options.defaultJointType ?? 'fixed';
-    const defaultAxis = options.defaultAxis ?? DEFAULT_URDF_AXIS;
-    const hardwareScale = options.hardwareScale ?? 1;
-    const links = [];
-    const joints = [];
-    const transmissions = [];
-    const visitNode = (node, parentLinkName) => {
-        const props = asRecord(node.properties);
-        const link = mapNodeToRobotLink(node, hardwareScale);
-        links.push(link);
-        const jointTrait = getJointTrait(node);
-        const motorTrait = getMotorTrait(node);
-        const jointName = sanitizeRobotName(asString(props.jointName, `${link.name}_joint`));
-        if (parentLinkName && jointTrait) {
-            const limits = asJointLimits(props.joint_limits ?? props.limits, {
-                lower: -1.57,
-                upper: 1.57,
-                effort: 10 * hardwareScale,
-                velocity: 1 * hardwareScale,
-            });
-            const joint = {
-                name: jointName,
-                type: jointTypeFromTrait(jointTrait, props, defaultJointType),
-                parent_link: sanitizeRobotName(parentLinkName),
-                child_link: link.name,
-                axis: asVec3(props.joint_axis ?? props.axis, defaultAxis),
-                limits,
-            };
-            joints.push(joint);
-            if (motorTrait) {
-                const motorProps = {
-                    ...props,
-                    ...asRecord(motorTrait.trait.properties),
-                };
-                transmissions.push(createTransmission(joint.name, motorProps, hardwareScale));
-            }
-        }
-        for (const child of node.children ?? []) {
-            visitNode(child, link.name);
-        }
-    };
-    const baseLinkName = sanitizeRobotName(options.baseLinkName ?? `${composition.name}_base`);
-    links.push({
-        name: baseLinkName,
-        inertial: {
-            mass: scaleMass(1, hardwareScale),
-            inertia: [0.01, 0.01, 0.01, 0, 0, 0],
-        },
-        visual: {
-            geometry: 'base_link',
-        },
-        collision: {
-            geometry: 'base_link',
-        },
-    });
-    for (const child of composition.children ?? []) {
-        visitNode(child, baseLinkName);
-    }
-    const modelWithoutXml = {
-        name: sanitizeRobotName(composition.name),
-        links,
-        joints,
-        transmissions,
-    };
-    return {
-        ...modelWithoutXml,
-        xml: buildURDFXML(modelWithoutXml),
-    };
-}
-// Traits
-export * from './traits/ROS2HardwareLoopTrait';
-// Version
-export const VERSION = '1.0.0';
-// Re-export for convenience
-export default {
-    VERSION,
-    buildURDFXML,
-    extractURDFFromHoloComposition,
-    generateIsaacLabFeed,
-};
-export function generateIsaacLabFeed(ast, opts = {}) {
-    const version = opts.isaacLabVersion || '2.3';
-    const codegen = new USDCodeGen({ isaacLabVersion: version });
-    const usd = codegen.generate(ast);
-    // Pull randomization + actuators that the AST already carries
-    const randomization = ast.domainRandomization;
-    const actuators = [];
-    for (const obj of ast.objects ?? []) {
-        if (obj.actuatorGroups)
-            actuators.push(...obj.actuatorGroups);
-    }
-    // Minimal Isaac Lab task config stub (observations / actions / randomization ranges)
-    const taskConfig = {
-        env: 'HoloScriptRobotEnv',
-        num_envs: 4096,
-        seed: 42,
-        observations: ['joint_pos', 'joint_vel', 'imu'],
-        actions: ['joint_torques'],
-        randomization: randomization || {},
-        actuator_groups: actuators,
-        source: 'holoscript',
-        usd_prim: ast.name,
-    };
-    // Simple content hashes for the receipt (evidence loop)
-    const sourceHoloHash = `holo:${ast.name}:${(ast.objects?.length || 0)}`;
-    const usdHash = `usd:${usd.length}`;
-    const configHash = `cfg:${JSON.stringify(taskConfig).length}`;
-    const receipt = {
-        sourceHoloHash,
-        usdHash,
-        configHash,
-        generatedAt: new Date().toISOString(),
-        isaacLabVersion: version,
-        readyForTraining: true,
-        notes: 'Narrow feed bundle — assets + randomization + actuator config. Policy training & real-robot eval are downstream.',
-    };
-    return {
-        usd,
-        taskConfig,
-        randomization,
-        actuators,
-        receipt,
-    };
-}

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;
-}