@holoscript/robotics-plugin 2.0.1 → 2.0.3

package/README.md

@@ -0,0 +1,13 @@
+# @holoscript/robotics-plugin
+
+Robotics plugin for HoloScript compile-time USD/URDF generation and ROS2/Gazebo
+integration surfaces.
+
+## Public Consumption
+
+```js
+import { Parser, USDCodeGen, extractURDFFromHoloComposition } from '@holoscript/robotics-plugin';
+```
+
+The package root ships built JavaScript and declaration files. It does not
+expose TypeScript source as the public runtime entry.

package/dist/index.d.ts

@@ -14,14 +14,14 @@
  *
  * @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 { USDCodeGen } from './usd-codegen.js';
+export type { IsaacLabConfig } from './usd-codegen.js';
+export { Lexer, TokenType } from './lexer.js';
+export type { Token } from './lexer.js';
+export { Parser } from './parser.js';
+export * from './ast.js';
+export type { DomainRandomizationConfig, ActuatorGroupConfig } from './ast.js';
+import type { CompositionNode, DomainRandomizationConfig, ActuatorGroupConfig } from './ast.js';
 export interface ROS2Config {
     ros_bridge_url: string;
     namespace?: string;
@@ -97,7 +97,7 @@ export interface URDFExtractionOptions {
 }
 export declare function buildURDFXML(model: Omit<ExtractedRobotModel, 'xml'>): string;
 export declare function extractURDFFromHoloComposition(composition: HoloCompositionTreeLike, options?: URDFExtractionOptions): ExtractedRobotModel;
-export * from './traits/ROS2HardwareLoopTrait';
+export * from './traits/ROS2HardwareLoopTrait.js';
 export declare const VERSION = "1.0.0";
 declare const _default: {
     VERSION: string;

package/dist/index.js

@@ -15,11 +15,11 @@
  * @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';
+export { USDCodeGen } from './usd-codegen.js';
+export { Lexer, TokenType } from './lexer.js';
+export { Parser } from './parser.js';
+export * from './ast.js';
+import { USDCodeGen } from './usd-codegen.js';
 const DEFAULT_URDF_AXIS = [0, 0, 1];
 function normalizeTraitName(name) {
     return name.replace(/^@/, '').trim().toLowerCase();
@@ -48,7 +48,11 @@ function asString(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 [
+            asNumber(value[0], fallback[0]),
+            asNumber(value[1], fallback[1]),
+            asNumber(value[2], fallback[2]),
+        ];
     }
     return fallback;
 }
@@ -82,10 +86,7 @@ function findTrait(node, predicate) {
     return null;
 }
 function getJointTrait(node) {
-    return findTrait(node, (name) => name === 'joint' ||
-        name === 'hinge' ||
-        name === 'slider' ||
-        name.startsWith('joint_'));
+    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'));
@@ -293,7 +294,7 @@ export function extractURDFFromHoloComposition(composition, options = {}) {
     };
 }
 // Traits
-export * from './traits/ROS2HardwareLoopTrait';
+export * from './traits/ROS2HardwareLoopTrait.js';
 // Version
 export const VERSION = '1.0.0';
 // Re-export for convenience
@@ -327,7 +328,7 @@ export function generateIsaacLabFeed(ast, opts = {}) {
         usd_prim: ast.name,
     };
     // 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}`;
     const receipt = {

package/dist/parser.d.ts

@@ -4,8 +4,8 @@
  * Converts token stream into Abstract Syntax Tree (AST).
  * Uses recursive descent parsing.
  */
-import { Token } from './lexer';
-import { CompositionNode } from './ast';
+import { Token } from './lexer.js';
+import { CompositionNode } from './ast.js';
 export declare class Parser {
     private tokens;
     private position;

package/dist/parser.js

@@ -4,7 +4,7 @@
  * Converts token stream into Abstract Syntax Tree (AST).
  * Uses recursive descent parsing.
  */
-import { TokenType } from './lexer';
+import { TokenType } from './lexer.js';
 export class Parser {
     constructor(tokens) {
         this.position = 0;

package/dist/runtime.d.ts

@@ -0,0 +1,5 @@
+export declare const ROBOTICS_PLUGIN_ID: "robotics";
+export interface TraitRegistrar {
+    registerTrait(name: string, handler: unknown): void;
+}
+export declare function registerRoboticsTraitHandlers(registrar: TraitRegistrar): void;

package/dist/runtime.js

@@ -0,0 +1,6 @@
+import { registerPluginTraits } from '@holoscript/core/runtime';
+import { createROS2HardwareLoopHandler } from './traits/ROS2HardwareLoopTrait.js';
+export const ROBOTICS_PLUGIN_ID = 'robotics';
+export function registerRoboticsTraitHandlers(registrar) {
+    registerPluginTraits(registrar, ROBOTICS_PLUGIN_ID, [createROS2HardwareLoopHandler()]);
+}

package/dist/traits/ROS2HardwareLoopTrait.d.ts

@@ -11,5 +11,5 @@ export interface ROS2State {
     activeTopics: string[];
     hardwareSyncDriftMs: number;
 }
-import type { TraitHandler } from './types';
+import type { TraitHandler } from './types.js';
 export declare function createROS2HardwareLoopHandler(): TraitHandler<ROS2Config>;

package/dist/traits/ROS2HardwareLoopTrait.js

@@ -1,9 +1,19 @@
 export function createROS2HardwareLoopHandler() {
     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, c, ctx) {
-            n.__ros2State = { connected: false, lastPingMs: 0, activeTopics: [], hardwareSyncDriftMs: 0 };
+            n.__ros2State = {
+                connected: false,
+                lastPingMs: 0,
+                activeTopics: [],
+                hardwareSyncDriftMs: 0,
+            };
             ctx.emit?.('ros2:init', { node: c.nodeName });
         },
         onDetach(n, _c, ctx) {
@@ -25,7 +35,10 @@ export function createROS2HardwareLoopHandler() {
                 case 'scene:transform_change':
                     if (c.bidirectional && s.connected) {
                         // Push virtual set transform to physical robot joint
-                        ctx.emit?.('ros2:publish', { topic: `${c.topicPrefix}/joint_cmd`, payload: evt.payload });
+                        ctx.emit?.('ros2:publish', {
+                            topic: `${c.topicPrefix}/joint_cmd`,
+                            payload: evt.payload,
+                        });
                     }
                     break;
                 case 'ros2:telemetry':
@@ -40,10 +53,12 @@ export function createROS2HardwareLoopHandler() {
                         const dynamicTopic = `${c.topicPrefix}/ttu_sync/${crdtRoot}`;
                         s.activeTopics.push(dynamicTopic);
                         ctx.emit?.('ros2:subscribe', { topic: dynamicTopic });
-                        ctx.emit?.('ros2:log', { message: `Bridged digital twin for TTU root: ${crdtRoot}` });
+                        ctx.emit?.('ros2:log', {
+                            message: `Bridged digital twin for TTU root: ${crdtRoot}`,
+                        });
                     }
                     break;
             }
-        }
+        },
     };
 }

package/dist/usd-codegen.d.ts

@@ -9,7 +9,7 @@
  * - Emits PhysxJointAxisAPI for per-axis joint friction assumptions
  * - Supports domain randomization metadata for sim-to-real transfer
  */
-import { CompositionNode } from './ast';
+import { CompositionNode } from './ast.js';
 export interface IsaacLabConfig {
     /** Isaac Lab version target for generated code */
     isaacLabVersion?: string;

package/dist/usd-codegen.js

@@ -376,7 +376,8 @@ export class USDCodeGen {
         return schemas;
     }
     hasDriveProperties(props) {
-        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);
     }
     hasPhysxJointAxisProperties(props) {
         return (this.numberProp(props, 'joint_friction', 'friction', 'joint_static_friction', 'joint_dynamic_friction', 'joint_viscous_friction', 'armature', 'max_velocity') !== undefined);

package/package.json

@@ -1,8 +1,22 @@
 {
   "name": "@holoscript/robotics-plugin",
-  "version": "2.0.1",
+  "version": "2.0.3",
   "description": "HoloScript plugin for robotics: compile-time USD/URDF codegen + runtime ROS2/Gazebo integration. VR robot programming and digital twins.",
-  "main": "src/index.ts",
+  "type": "module",
+  "main": "dist/index.js",
+  "types": "dist/index.d.ts",
+  "files": [
+    "dist",
+    "LICENSE",
+    "README.md",
+    "plugin.manifest.json"
+  ],
+  "scripts": {
+    "build": "tsc",
+    "test": "vitest run",
+    "clean": "rimraf dist",
+    "test:coverage": "vitest run --coverage"
+  },
   "keywords": [
     "holoscript",
     "plugin",
@@ -17,15 +31,9 @@
   "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/plugin.manifest.json

@@ -0,0 +1,10 @@
+{
+  "id": "robotics-plugin",
+  "version": "2.0.2",
+  "name": "Robotics",
+  "description": "HoloScript plugin for robotics: compile-time USD/URDF codegen + runtime ROS2/Gazebo integration. VR robot programming and digital twins.",
+  "traits": ["ros2_hardware_loop"],
+  "autoRegister": true,
+  "coreVersion": ">=8.0.0",
+  "runtimeEntry": "./src/runtime.ts"
+}

package/CHANGELOG.md

@@ -1,14 +0,0 @@
-# @holoscript/robotics-plugin
-
-## 2.0.1
-
-### Patch Changes
-
-- Updated dependencies [c64fc1a]
-  - @holoscript/core@8.0.6
-
-## 2.0.0
-
-### Patch Changes
-
-- @holoscript/core@6.1.0

package/examples/isaac-lab-sim-to-real-bridge.holo

@@ -1,63 +0,0 @@
-# Isaac Lab Sim-to-Real Bridge Prototype v0.1
-# Task: task_1779183224900_643n [p3][build] — minimal bridge (idea-seed 51)
-# Source memo: research/2026-04-19_isaac-lab-sim-to-real.md (Claude 2026-04-19)
-#
-# Demonstrates the *declarative authoring surface* for Path A (HoloScript → Isaac Lab feed).
-# This composition is the thinnest runnable example that encodes the sim-to-real
-# parameters identified in the memo (§1.1–1.3): domain randomization, non-ideal actuators,
-# and future USD friction schema.
-#
-# Current state (2026-05-19): parser ignores the @isaac_lab block (no IsaacLabCompiler yet).
-# Future: usd-codegen.ts emits PhysxArticulationAPI + drive:* + joint-friction schema;
-#        IsaacLabCompiler.ts emits ManagerBasedRLEnvCfg + EventTermCfg references.
-#
-# See packages/plugins/robotics-plugin/python/isaac_lab_bridge.py for the matching
-# thin shim that "executes" the bridge concept without requiring an Isaac Sim license.
-
-robot spot {
-  # Base from existing robotics examples (robot-arm-complete.holo)
-  @urdf_export "spot.urdf"
-  @usd_export   "spot.usd"
-  @ros_node     { topic: "/joint_states", rate_hz: 30 }
-
-  @isaac_lab {
-    # Memo Path A, step 3 (DR vocabulary) + step 4 (actuator groups)
-    actuator_model: "DelayedPDActuator",   # maps to isaaclab.actuators.DelayedPDActuator
-    actuator_groups: {
-      legs: { kp: 120.0, kd: 8.0, latency_ms: 4 }   # explicit comms delay (sim-to-real)
-    }
-
-    domain_randomization: {
-      # EventTermCfg targets (isaaclab.envs.mdp.*)
-      rigid_body_mass:     { range: [0.95, 1.05], mode: "reset" }
-      rigid_body_friction: { range: [0.7, 1.3],   mode: "reset" }
-      joint_damping:       { range: [0.8, 1.2],   mode: "interval", interval_s: 2.0 }
-      push_force:          { magnitude: 120,      interval_s: [3, 12] }
-    }
-
-    observation_noise: {
-      joint_pos: 0.012,
-      joint_vel: 0.025,
-      imu:       0.018
-    }
-
-    # Future: emit PhysxJointFrictionAPI / PhysxArticulation:friction:* (memo §1.4)
-    joint_friction_schema: "physx"
-  }
-
-  # Minimal kinematic skeleton (enough for USD/Isaac import)
-  base_link { mass: 12.0 }
-  joints {
-    FL_hip  { type: revolute, axis: "y", limits: [-1.57, 1.57] }
-    FL_knee { type: revolute, axis: "x", limits: [-2.5,  2.5 ] }
-    # ... (truncated for prototype; full 12-DOF in real Spot asset)
-  }
-}
-
-# Done criteria for this task satisfied by:
-# - 1 runnable demo: python .../isaac_lab_bridge.py  (emits Isaac Lab stub config)
-# - Docs: this file header + memo cross-ref + py docstring
-# - Thin interop shim: maps HoloScript declarative → Isaac Lab EventTermCfg/ActuatorCfg
-#
-# Next (out of scope for p3): full IsaacLabCompiler.ts + usd-codegen patches (memo steps 1-5).
-# Verification: see commit that landed these two files + `python` execution output.

package/examples/isaac-lab-sim-to-real.holo

@@ -1,127 +0,0 @@
-// Isaac Lab Sim-to-Real Example
-// Demonstrates Path A: HoloScript -> Isaac Lab asset/export
-// Features:
-// - PhysicsDriveAPI for PD actuator control
-// - PhysxJointAxisAPI for per-axis joint friction assumptions
-// - Domain randomization configuration
-// - Delayed actuator metadata for communication latency
-
-composition "TwoLinkArm_IsaacLab" {
-  // Domain randomization at composition level
-  // These values are emitted as comments for Isaac Lab Python codegen
-  domain_randomization: {
-    physics: {
-      massScale: [0.8, 1.2]
-      frictionRange: [0.3, 0.7]
-      dampingRange: [0.0, 0.1]
-      armatureRange: [0.0001, 0.002]
-    }
-    actuator: {
-      kpNoise: 0.1
-      kdNoise: 0.05
-      latencyNoise: 0.002
-    }
-    observation: {
-      jointPosNoise: 0.001
-      jointVelNoise: 0.01
-      imuNoise: 0.005
-    }
-    initialState: {
-      rootPoseRange: [-0.5, 0.5, -0.5, 0.5, 0.0, 1.0]
-    }
-    disturbance: {
-      forceRange: [0.0, 5.0]
-      intervalRange: [1.0, 3.0]
-    }
-  }
-
-  object "base_link" {
-    @static
-    geometry: "cylinder"
-    radius: 0.1
-    height: 0.05
-    mass: 2.0
-    position: [0, 0, 0]
-    material: "metal"
-  }
-
-  object "joint1" {
-    @joint_revolute
-    joint_parent: "base_link"
-    joint_origin: [0, 0, 0.05]
-    joint_axis: [0, 0, 1]
-    joint_limits: [-3.14, 3.14]
-    joint_effort: 50
-    max_velocity: 3.14
-    // PD gains for Isaac Lab drive control
-    kp: 100.0
-    kd: 10.0
-    // Joint friction (sim-to-real)
-    joint_friction: 0.05
-    joint_viscous_friction: 0.01
-    armature: 0.001
-    // Actuator latency for DelayedPDActuator
-    actuator_latency: 0.005
-    actuator_group: {
-      name: "arm_group"
-      type: "DelayedPDActuator"
-      joints: ["joint1", "joint2"]
-      stiffness: 100
-      damping: 10
-      friction: 0.05
-      latency: 0.005
-    }
-  }
-
-  object "link1" {
-    @joint_revolute
-    joint_parent: "joint1"
-    geometry: "cylinder"
-    radius: 0.05
-    length: 0.3
-    mass: 1.0
-    position: [0, 0, 0.15]
-    material: "metal"
-    // Inertia tensor
-    inertia: [0.01, 0.01, 0.001, 0, 0, 0]
-    // PD gains
-    kp: 80.0
-    kd: 8.0
-    joint_friction: 0.03
-  }
-
-  object "joint2" {
-    @joint_revolute
-    joint_parent: "link1"
-    joint_origin: [0, 0, 0.3]
-    joint_axis: [0, 1, 0]
-    joint_limits: [-1.57, 1.57]
-    joint_effort: 30
-    max_velocity: 3.14
-    kp: 80.0
-    kd: 8.0
-    joint_friction: 0.03
-    actuator_latency: 0.005
-  }
-
-  object "link2" {
-    geometry: "cylinder"
-    radius: 0.04
-    length: 0.25
-    mass: 0.8
-    position: [0, 0, 0.125]
-    material: "metal"
-    inertia: [0.005, 0.005, 0.0008, 0, 0, 0]
-    kp: 60.0
-    kd: 6.0
-    joint_friction: 0.02
-  }
-
-  object "end_effector" {
-    geometry: "sphere"
-    radius: 0.03
-    mass: 0.2
-    position: [0, 0, 0.25]
-    material: "plastic"
-  }
-}

package/python/isaac_lab_bridge.py

@@ -1,157 +0,0 @@
-#!/usr/bin/env python3
-"""
-Minimal Isaac Lab Sim-to-Real Bridge Shim (HoloScript prototype v0.1)
-Task: task_1779183224900_643n [p3][build] — from idea-seed 51
-
-Source: research/2026-04-19_isaac-lab-sim-to-real.md (memo §1, §3 Path A)
-
-Runnable demo (no Isaac Sim / GPU required):
-    python packages/plugins/robotics-plugin/python/isaac_lab_bridge.py
-
-What it does (thin interop shim):
-- Takes a declarative HoloScript-style robot spec (the @isaac_lab block from
-  the companion .holo example).
-- Emits a stub of the exact Python objects Isaac Lab 2.3+ expects:
-    * EventTermCfg list for domain randomization (mdp.* functions)
-    * ActuatorCfg using DelayedPDActuator (memo §1.3)
-- This is the "runnable demo" half of the p3 deliverable. The .holo is the
-  "example composition" half.
-
-Real compiler work (out of scope for this minimal p3 task):
-- IsaacLabCompiler.ts (packages/plugins/robotics-plugin/src/isaaclab-compiler.ts)
-- usd-codegen.ts patches for PhysxArticulationAPI + joint-friction schema
-- Parser support for domain_randomization { } and actuator groups
-
-See the .holo file header for the exact mapping and memo citations.
-"""
-
-from __future__ import annotations
-import json
-from typing import Any, Dict
-
-
-def emit_isaac_lab_stub(holo_spec: Dict[str, Any]) -> str:
-    """
-    Core of the bridge shim.
-    holo_spec mirrors the @isaac_lab block + top-level robot attrs from the .holo.
-    Returns a multi-line string that is valid Python for a real Isaac Lab env cfg.
-    """
-    name = holo_spec.get("name", "spot")
-    actuator_model = holo_spec.get("actuator_model", "DelayedPDActuator")
-    dr = holo_spec.get("domain_randomization", {})
-    obs_noise = holo_spec.get("observation_noise", {})
-
-    # Build the EventTermCfg fragments exactly as Isaac Lab expects them
-    # (references, not implementations — per memo recommendation)
-    dr_terms = []
-    if "rigid_body_mass" in dr:
-        rng = dr["rigid_body_mass"].get("range", [0.95, 1.05])
-        dr_terms.append(
-            f'    "randomize_mass": EventTermCfg(\n'
-            f'        func=mdp.randomize_rigid_body_mass,\n'
-            f'        mode="{dr["rigid_body_mass"].get("mode", "reset")}",\n'
-            f'        params={{"mass_range": {rng}}}\n'
-            f'    ),'
-        )
-    if "rigid_body_friction" in dr:
-        rng = dr["rigid_body_friction"].get("range", [0.7, 1.3])
-        dr_terms.append(
-            f'    "randomize_friction": EventTermCfg(\n'
-            f'        func=mdp.randomize_rigid_body_friction,\n'
-            f'        mode="{dr["rigid_body_friction"].get("mode", "reset")}",\n'
-            f'        params={{"friction_range": {rng}}}\n'
-            f'    ),'
-        )
-    if "push_force" in dr:
-        mag = dr["push_force"].get("magnitude", 120)
-        iv = dr["push_force"].get("interval_s", [3, 12])
-        dr_terms.append(
-            f'    "push_perturbation": EventTermCfg(\n'
-            f'        func=mdp.push_perturbation,\n'
-            f'        mode="interval",\n'
-            f'        interval_s={iv},\n'
-            f'        params={{"force_range": [{-mag}, {mag}]}}\n'
-            f'    ),'
-        )
-
-    dr_block = "\n".join(dr_terms) if dr_terms else "    # (no DR terms in spec)"
-
-    # Observation noise example (memo §1.2)
-    noise_lines = []
-    for k, v in obs_noise.items():
-        noise_lines.append(f'    # noise on {k}: UniformNoiseCfg(mean=0.0, std={v})')
-    noise_block = "\n".join(noise_lines) if noise_lines else "    # (no explicit noise)"
-
-    # Actuator (the hard sim-to-real piece — memo §1.3)
-    actuator_comment = (
-        f"# Actuator model: {actuator_model}\n"
-        f"# Future: map HoloScript actuator_groups to isaaclab.actuators.{actuator_model}\n"
-        f"# (DelayedPDActuator simulates the 4-8 ms network latency that breaks real policies)"
-    )
-
-    code = f'''# === Isaac Lab 2.3+ env config stub (generated by HoloScript bridge shim v0.1) ===
-# Task: task_1779183224900_643n
-# Memo: research/2026-04-19_isaac-lab-sim-to-real.md  (Path A, steps 1-4)
-# Source .holo: packages/plugins/robotics-plugin/examples/isaac-lab-sim-to-real-bridge.holo
-
-from isaaclab.envs import ManagerBasedRLEnvCfg
-from isaaclab.envs.mdp import EventTermCfg
-import isaaclab.envs.mdp as mdp
-# from isaaclab.actuators import DelayedPDActuator, ActuatorCfg   # real import
-
-{actuator_comment}
-
-env_cfg = ManagerBasedRLEnvCfg(
-    # scene, observations, actions, rewards would be emitted from full .holo compile
-)
-
-# Domain randomization (memo §1.1) — the primary sim-to-real lever
-env_cfg.events = {{
-{dr_block}
-}}
-
-# Observation noise (memo §1.2)
-{noise_block}
-
-print("Isaac Lab bridge prototype: config emitted for", {json.dumps(name)})
-print("Actuator model requested:", {json.dumps(actuator_model)})
-print("DR terms generated:", {len(dr_terms)})
-return "SUCCESS: thin interop shim executed — HoloScript spec → Isaac Lab EventTermCfg/ActuatorCfg"
-'''
-
-    return code
-
-
-def main() -> None:
-    # Exact spec pulled from the companion .holo example (the "runnable demo" data)
-    sample_holo_spec: Dict[str, Any] = {
-        "name": "spot",
-        "actuator_model": "DelayedPDActuator",
-        "actuator_groups": {
-            "legs": {"kp": 120.0, "kd": 8.0, "latency_ms": 4}
-        },
-        "domain_randomization": {
-            "rigid_body_mass": {"range": [0.95, 1.05], "mode": "reset"},
-            "rigid_body_friction": {"range": [0.7, 1.3], "mode": "reset"},
-            "push_force": {"magnitude": 120, "interval_s": [3, 12]},
-        },
-        "observation_noise": {
-            "joint_pos": 0.012,
-            "joint_vel": 0.025,
-            "imu": 0.018,
-        },
-    }
-
-    print("=== HoloScript → Isaac Lab minimal bridge prototype (task_1779183224900_643n) ===")
-    print("Loading spec from isaac-lab-sim-to-real-bridge.holo (simulated)")
-    result = emit_isaac_lab_stub(sample_holo_spec)
-    print(result)
-    print("\n=== End of demo ===")
-    print("Files delivered for p3 task:")
-    print("  - examples/isaac-lab-sim-to-real-bridge.holo  (example composition + docs)")
-    print("  - python/isaac_lab_bridge.py                  (runnable shim + 1 demo)")
-    print("Both files committed with explicit paths only.")
-
-
-if __name__ == "__main__":
-    main()