cyberwave-robot-format 0.1.2__tar.gz

cyberwave_robot_format-0.1.2/LICENSE

@@ -0,0 +1,201 @@
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+1.  Definitions.
+
+    "License" shall mean the terms and conditions for use, reproduction,
+    and distribution as defined by Sections 1 through 9 of this document.
+
+    "Licensor" shall mean the copyright owner or entity authorized by
+    the copyright owner that is granting the License.
+
+    "Legal Entity" shall mean the union of the acting entity and all
+    other entities that control, are controlled by, or are under common
+    control with that entity. For the purposes of this definition,
+    "control" means (i) the power, direct or indirect, to cause the
+    direction or management of such entity, whether by contract or
+    otherwise, or (ii) ownership of fifty percent (50%) or more of the
+    outstanding shares, or (iii) beneficial ownership of such entity.
+
+    "You" (or "Your") shall mean an individual or Legal Entity
+    exercising permissions granted by this License.
+
+    "Source" form shall mean the preferred form for making modifications,
+    including but not limited to software source code, documentation
+    source, and configuration files.
+
+    "Object" form shall mean any form resulting from mechanical
+    transformation or translation of a Source form, including but
+    not limited to compiled object code, generated documentation,
+    and conversions to other media types.
+
+    "Work" shall mean the work of authorship, whether in Source or
+    Object form, made available under the License, as indicated by a
+    copyright notice that is included in or attached to the work
+    (an example is provided in the Appendix below).
+
+    "Derivative Works" shall mean any work, whether in Source or Object
+    form, that is based on (or derived from) the Work and for which the
+    editorial revisions, annotations, elaborations, or other modifications
+    represent, as a whole, an original work of authorship. For the purposes
+    of this License, Derivative Works shall not include works that remain
+    separable from, or merely link (or bind by name) to the interfaces of,
+    the Work and Derivative Works thereof.
+
+    "Contribution" shall mean any work of authorship, including
+    the original version of the Work and any modifications or additions
+    to that Work or Derivative Works thereof, that is intentionally
+    submitted to Licensor for inclusion in the Work by the copyright owner
+    or by an individual or Legal Entity authorized to submit on behalf of
+    the copyright owner. For the purposes of this definition, "submitted"
+    means any form of electronic, verbal, or written communication sent
+    to the Licensor or its representatives, including but not limited to
+    communication on electronic mailing lists, source code control systems,
+    and issue tracking systems that are managed by, or on behalf of, the
+    Licensor for the purpose of discussing and improving the Work, but
+    excluding communication that is conspicuously marked or otherwise
+    designated in writing by the copyright owner as "Not a Contribution."
+
+    "Contributor" shall mean Licensor and any individual or Legal Entity
+    on behalf of whom a Contribution has been received by Licensor and
+    subsequently incorporated within the Work.
+
+2.  Grant of Copyright License. Subject to the terms and conditions of
+    this License, each Contributor hereby grants to You a perpetual,
+    worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+    copyright license to reproduce, prepare Derivative Works of,
+    publicly display, publicly perform, sublicense, and distribute the
+    Work and such Derivative Works in Source or Object form.
+
+3.  Grant of Patent License. Subject to the terms and conditions of
+    this License, each Contributor hereby grants to You a perpetual,
+    worldwide, non-exclusive, no-charge, royalty-free, irrevocable
+    (except as stated in this section) patent license to make, have made,
+    use, offer to sell, sell, import, and otherwise transfer the Work,
+    where such license applies only to those patent claims licensable
+    by such Contributor that are necessarily infringed by their
+    Contribution(s) alone or by combination of their Contribution(s)
+    with the Work to which such Contribution(s) was submitted. If You
+    institute patent litigation against any entity (including a
+    cross-claim or counterclaim in a lawsuit) alleging that the Work
+    or a Contribution incorporated within the Work constitutes direct
+    or contributory patent infringement, then any patent licenses
+    granted to You under this License for that Work shall terminate
+    as of the date such litigation is filed.
+
+4.  Redistribution. You may reproduce and distribute copies of the
+    Work or Derivative Works thereof in any medium, with or without
+    modifications, and in Source or Object form, provided that You
+    meet the following conditions:
+
+    (a) You must give any other recipients of the Work or
+    Derivative Works a copy of this License; and
+
+    (b) You must cause any modified files to carry prominent notices
+    stating that You changed the files; and
+
+    (c) You must retain, in the Source form of any Derivative Works
+    that You distribute, all copyright, patent, trademark, and
+    attribution notices from the Source form of the Work,
+    excluding those notices that do not pertain to any part of
+    the Derivative Works; and
+
+    (d) If the Work includes a "NOTICE" text file as part of its
+    distribution, then any Derivative Works that You distribute must
+    include a readable copy of the attribution notices contained
+    within such NOTICE file, excluding those notices that do not
+    pertain to any part of the Derivative Works, in at least one
+    of the following places: within a NOTICE text file distributed
+    as part of the Derivative Works; within the Source form or
+    documentation, if provided along with the Derivative Works; or,
+    within a display generated by the Derivative Works, if and
+    wherever such third-party notices normally appear. The contents
+    of the NOTICE file are for informational purposes only and
+    do not modify the License. You may add Your own attribution
+    notices within Derivative Works that You distribute, alongside
+    or as an addendum to the NOTICE text from the Work, provided
+    that such additional attribution notices cannot be construed
+    as modifying the License.
+
+    You may add Your own copyright statement to Your modifications and
+    may provide additional or different license terms and conditions
+    for use, reproduction, or distribution of Your modifications, or
+    for any such Derivative Works as a whole, provided Your use,
+    reproduction, and distribution of the Work otherwise complies with
+    the conditions stated in this License.
+
+5.  Submission of Contributions. Unless You explicitly state otherwise,
+    any Contribution intentionally submitted for inclusion in the Work
+    by You to the Licensor shall be under the terms and conditions of
+    this License, without any additional terms or conditions.
+    Notwithstanding the above, nothing herein shall supersede or modify
+    the terms of any separate license agreement you may have executed
+    with Licensor regarding such Contributions.
+
+6.  Trademarks. This License does not grant permission to use the trade
+    names, trademarks, service marks, or product names of the Licensor,
+    except as required for reasonable and customary use in describing the
+    origin of the Work and reproducing the content of the NOTICE file.
+
+7.  Disclaimer of Warranty. Unless required by applicable law or
+    agreed to in writing, Licensor provides the Work (and each
+    Contributor provides its Contributions) on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
+    implied, including, without limitation, any warranties or conditions
+    of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
+    PARTICULAR PURPOSE. You are solely responsible for determining the
+    appropriateness of using or redistributing the Work and assume any
+    risks associated with Your exercise of permissions under this License.
+
+8.  Limitation of Liability. In no event and under no legal theory,
+    whether in tort (including negligence), contract, or otherwise,
+    unless required by applicable law (such as deliberate and grossly
+    negligent acts) or agreed to in writing, shall any Contributor be
+    liable to You for damages, including any direct, indirect, special,
+    incidental, or consequential damages of any character arising as a
+    result of this License or out of the use or inability to use the
+    Work (including but not limited to damages for loss of goodwill,
+    work stoppage, computer failure or malfunction, or any and all
+    other commercial damages or losses), even if such Contributor
+    has been advised of the possibility of such damages.
+
+9.  Accepting Warranty or Additional Liability. While redistributing
+    the Work or Derivative Works thereof, You may choose to offer,
+    and charge a fee for, acceptance of support, warranty, indemnity,
+    or other liability obligations and/or rights consistent with this
+    License. However, in accepting such obligations, You may act only
+    on Your own behalf and on Your sole responsibility, not on behalf
+    of any other Contributor, and only if You agree to indemnify,
+    defend, and hold each Contributor harmless for any liability
+    incurred by, or claims asserted against, such Contributor by reason
+    of your accepting any such warranty or additional liability.
+
+END OF TERMS AND CONDITIONS
+
+APPENDIX: How to apply the Apache License to your work.
+
+      To apply the Apache License to your work, attach the following
+      boilerplate notice, with the fields enclosed by brackets "[]"
+      replaced with your own identifying information. (Don't include
+      the brackets!)  The text should be enclosed in the appropriate
+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+Copyright 2026 Cyberwave S.p.a.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.

cyberwave_robot_format-0.1.2/NOTICE

@@ -0,0 +1,7 @@
+This project incorporates portions of code from Robot Format Converter
+https://github.com/thanhndv212/robot_format_converter
+Copyright 2025 Thanh Nguyen
+2022-2023 CNRS, Toward SAS
+Licensed under the Apache License, Version 2.0.
+
+Modifications Copyright 2026 Vittorio Banfi

cyberwave_robot_format-0.1.2/PKG-INFO

@@ -0,0 +1,163 @@
+Metadata-Version: 2.4
+Name: cyberwave-robot-format
+Version: 0.1.2
+Summary: Universal robot description schema and format converters for Cyberwave
+Author-email: Cyberwave Team <info@cyberwave.com>
+License: Apache-2.0
+Keywords: robotics,urdf,mjcf,sdf,robot-description,format-conversion
+Requires-Python: >=3.10
+Description-Content-Type: text/markdown
+License-File: LICENSE
+License-File: NOTICE
+Requires-Dist: numpy>=1.20.0
+Requires-Dist: lxml>=4.6.0
+Requires-Dist: defusedxml>=0.7.0
+Requires-Dist: trimesh>=3.0.0
+Requires-Dist: pycollada>=0.7.0
+Requires-Dist: resolve-robotics-uri-py>=0.3.0
+Requires-Dist: cattrs>=23.0.0
+Provides-Extra: dev
+Requires-Dist: pytest>=6.0; extra == "dev"
+Requires-Dist: pytest-cov>=2.10.0; extra == "dev"
+Requires-Dist: black>=21.0.0; extra == "dev"
+Requires-Dist: isort>=5.0.0; extra == "dev"
+Requires-Dist: mypy>=0.800; extra == "dev"
+Dynamic: license-file
+
+# Cyberwave Robot Format
+
+Universal robot description schema and format converters for Cyberwave.
+
+## Overview
+
+This package provides:
+
+- **Universal Schema**: A canonical representation for robotic assets (`CommonSchema`)
+- **Format Importers**: Parse URDF, MJCF into the universal schema
+- **Format Exporters**: Export universal schema to URDF, MJCF
+- **Validation**: Schema validation and consistency checks
+
+## Structure
+
+```
+cyberwave_robot_format/
+├── schema.py           # Core schema definitions (CommonSchema, Link, Joint, etc.)
+├── core.py             # Base classes for parsers/exporters
+├── urdf/               # URDF parser and exporter
+├── mjcf/               # MJCF (MuJoCo) parser and exporter
+├── mesh/               # Mesh processing utilities
+├── math_utils.py       # Math utilities (Vector3, Quaternion, etc.)
+└── utils.py            # General utilities
+```
+
+## Usage
+
+### Parse URDF
+
+```python
+from cyberwave_robot_format import CommonSchema
+from cyberwave_robot_format.urdf import URDFParser
+
+# Parse a URDF file
+parser = URDFParser()
+schema = parser.parse("path/to/robot.urdf")
+
+# Validate the schema
+issues = schema.validate()
+if issues:
+    print("Validation issues:", issues)
+
+# Access robot components
+for link in schema.links:
+    print(f"Link: {link.name}, mass: {link.mass}")
+
+for joint in schema.joints:
+    print(f"Joint: {joint.name}, type: {joint.type}")
+```
+
+### Parse MJCF (MuJoCo)
+
+```python
+from cyberwave_robot_format.mjcf import MJCFParser
+
+# Parse a MuJoCo XML file
+parser = MJCFParser()
+schema = parser.parse("path/to/robot.xml")
+
+# Access actuators
+for actuator in schema.actuators:
+    print(f"Actuator: {actuator.name}, joint: {actuator.joint}")
+```
+
+### Export to MJCF
+
+```python
+from cyberwave_robot_format.mjcf import MJCFExporter
+
+# Export schema to MuJoCo format
+exporter = MJCFExporter()
+exporter.export(schema, "output/robot.xml")
+```
+
+### Cloud-Native Scene Export
+
+Export complete scenes with meshes to ZIP files, supporting cloud storage and in-memory conversion:
+
+```python
+from cyberwave_robot_format.mjcf import export_mujoco_zip_cloud
+from cyberwave_robot_format.urdf import export_urdf_zip_cloud
+
+# Cloud-safe resolver with in-memory DAE→OBJ conversion
+def s3_resolver(filename: str) -> tuple[str, bytes] | None:
+    """Download from S3 and convert in memory."""
+    mesh_bytes = s3.get_object(Bucket='meshes', Key=filename)['Body'].read()
+
+    if filename.endswith('.dae'):
+        obj_bytes = convert_dae_to_obj_in_memory(mesh_bytes)
+        return (filename.replace('.dae', '.obj'), obj_bytes)
+
+    return (Path(filename).name, mesh_bytes)
+
+# Export with cloud resolver (mesh_resolver is required)
+mujoco_zip = export_mujoco_zip_cloud(
+    schema,
+    s3_resolver,
+    strict_missing_meshes=True  # Fail fast on missing meshes
+)
+
+urdf_zip = export_urdf_zip_cloud(schema, s3_resolver)
+```
+
+## Development
+
+Install in editable mode:
+
+```bash
+pip install -e .
+```
+
+Run tests:
+
+```bash
+pytest
+```
+
+## Acknowledgments
+
+This project incorporates portions of code from
+[https://github.com/thanhndv212/robot_format_converter](Robot Format Converter) (Apache 2.0 licensed).
+
+Original repository:
+https://github.com/thanhndv212/robot_format_converter
+
+We thank the original authors for their initial work.
+
+```bibtex
+@software{robot_format_converter,
+author = {Nguyen, Thanh},
+title = {Robot Format Converter: Universal Robot Description Format Converter},
+year = {2025},
+url = {https://github.com/thanhndv212/robot_format_converter},
+version = {1.0.0}
+}
+```

cyberwave_robot_format-0.1.2/README.md

@@ -0,0 +1,137 @@
+# Cyberwave Robot Format
+
+Universal robot description schema and format converters for Cyberwave.
+
+## Overview
+
+This package provides:
+
+- **Universal Schema**: A canonical representation for robotic assets (`CommonSchema`)
+- **Format Importers**: Parse URDF, MJCF into the universal schema
+- **Format Exporters**: Export universal schema to URDF, MJCF
+- **Validation**: Schema validation and consistency checks
+
+## Structure
+
+```
+cyberwave_robot_format/
+├── schema.py           # Core schema definitions (CommonSchema, Link, Joint, etc.)
+├── core.py             # Base classes for parsers/exporters
+├── urdf/               # URDF parser and exporter
+├── mjcf/               # MJCF (MuJoCo) parser and exporter
+├── mesh/               # Mesh processing utilities
+├── math_utils.py       # Math utilities (Vector3, Quaternion, etc.)
+└── utils.py            # General utilities
+```
+
+## Usage
+
+### Parse URDF
+
+```python
+from cyberwave_robot_format import CommonSchema
+from cyberwave_robot_format.urdf import URDFParser
+
+# Parse a URDF file
+parser = URDFParser()
+schema = parser.parse("path/to/robot.urdf")
+
+# Validate the schema
+issues = schema.validate()
+if issues:
+    print("Validation issues:", issues)
+
+# Access robot components
+for link in schema.links:
+    print(f"Link: {link.name}, mass: {link.mass}")
+
+for joint in schema.joints:
+    print(f"Joint: {joint.name}, type: {joint.type}")
+```
+
+### Parse MJCF (MuJoCo)
+
+```python
+from cyberwave_robot_format.mjcf import MJCFParser
+
+# Parse a MuJoCo XML file
+parser = MJCFParser()
+schema = parser.parse("path/to/robot.xml")
+
+# Access actuators
+for actuator in schema.actuators:
+    print(f"Actuator: {actuator.name}, joint: {actuator.joint}")
+```
+
+### Export to MJCF
+
+```python
+from cyberwave_robot_format.mjcf import MJCFExporter
+
+# Export schema to MuJoCo format
+exporter = MJCFExporter()
+exporter.export(schema, "output/robot.xml")
+```
+
+### Cloud-Native Scene Export
+
+Export complete scenes with meshes to ZIP files, supporting cloud storage and in-memory conversion:
+
+```python
+from cyberwave_robot_format.mjcf import export_mujoco_zip_cloud
+from cyberwave_robot_format.urdf import export_urdf_zip_cloud
+
+# Cloud-safe resolver with in-memory DAE→OBJ conversion
+def s3_resolver(filename: str) -> tuple[str, bytes] | None:
+    """Download from S3 and convert in memory."""
+    mesh_bytes = s3.get_object(Bucket='meshes', Key=filename)['Body'].read()
+
+    if filename.endswith('.dae'):
+        obj_bytes = convert_dae_to_obj_in_memory(mesh_bytes)
+        return (filename.replace('.dae', '.obj'), obj_bytes)
+
+    return (Path(filename).name, mesh_bytes)
+
+# Export with cloud resolver (mesh_resolver is required)
+mujoco_zip = export_mujoco_zip_cloud(
+    schema,
+    s3_resolver,
+    strict_missing_meshes=True  # Fail fast on missing meshes
+)
+
+urdf_zip = export_urdf_zip_cloud(schema, s3_resolver)
+```
+
+## Development
+
+Install in editable mode:
+
+```bash
+pip install -e .
+```
+
+Run tests:
+
+```bash
+pytest
+```
+
+## Acknowledgments
+
+This project incorporates portions of code from
+[https://github.com/thanhndv212/robot_format_converter](Robot Format Converter) (Apache 2.0 licensed).
+
+Original repository:
+https://github.com/thanhndv212/robot_format_converter
+
+We thank the original authors for their initial work.
+
+```bibtex
+@software{robot_format_converter,
+author = {Nguyen, Thanh},
+title = {Robot Format Converter: Universal Robot Description Format Converter},
+year = {2025},
+url = {https://github.com/thanhndv212/robot_format_converter},
+version = {1.0.0}
+}
+```

cyberwave_robot_format-0.1.2/cyberwave_robot_format/__init__.py

@@ -0,0 +1,80 @@
+"""Cyberwave Robot Format - Universal robot description schema and format converters.
+
+This package provides a unified schema for representing robotic assets and tools
+for converting between different robot description formats (URDF, MJCF, SDF, etc.).
+"""
+
+from cyberwave_robot_format.schema import (
+    Actuator,
+    ActuatorType,
+    Collision,
+    CollisionConfig,
+    CollisionExclude,
+    CollisionGroup,
+    CollisionPair,
+    CommonSchema,
+    Contact,
+    ContactSurface,
+    Geometry,
+    GeometryType,
+    Inertia,
+    Joint,
+    JointDynamics,
+    JointLimits,
+    JointType,
+    Link,
+    Material,
+    Metadata,
+    Physics,
+    PhysicsSolver,
+    Pose,
+    Quaternion,
+    Scene,
+    Sensor,
+    Vector3,
+    Visual,
+)
+from cyberwave_robot_format.urdf import URDFParser, URDFExporter, export_urdf_zip_cloud, export_urdf_scene_xml
+from cyberwave_robot_format.mjcf import MJCFParser, MJCFExporter, export_mujoco_zip_cloud, export_mujoco_scene_xml
+from cyberwave_robot_format.schema_export import export_universal_schema_json
+
+__version__ = "0.1.0"
+__all__ = [
+    "CommonSchema",
+    "Link",
+    "Joint",
+    "Visual",
+    "Collision",
+    "CollisionConfig",
+    "CollisionExclude",
+    "CollisionGroup",
+    "CollisionPair",
+    "Geometry",
+    "Material",
+    "Pose",
+    "Vector3",
+    "Quaternion",
+    "Inertia",
+    "JointType",
+    "GeometryType",
+    "JointLimits",
+    "JointDynamics",
+    "Actuator",
+    "ActuatorType",
+    "Sensor",
+    "Contact",
+    "ContactSurface",
+    "Physics",
+    "PhysicsSolver",
+    "Scene",
+    "Metadata",
+    "URDFParser",
+    "URDFExporter",
+    "MJCFParser",
+    "MJCFExporter",
+    "export_mujoco_zip_cloud",
+    "export_mujoco_scene_xml",
+    "export_urdf_zip_cloud",
+    "export_urdf_scene_xml",
+    "export_universal_schema_json",
+]