lockwire 0.2.4__tar.gz → 0.2.6__tar.gz

lockwire-0.2.6/LICENSE

@@ -0,0 +1,202 @@
+
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lockwire-0.2.6/NOTICE

@@ -0,0 +1,4 @@
+Lockwire
+Copyright 2026 Shivansh
+
+This product includes software developed by Shivansh (lockwire).

lockwire-0.2.6/PKG-INFO

@@ -0,0 +1,161 @@
+Metadata-Version: 2.4
+Name: lockwire
+Version: 0.2.6
+Summary: The physical-assumption contract for robots: checks that a robot's declared parts (power, weight, bus, torque) add up
+Keywords: robotics,urdf,ros,preflight,lockfile,ci,hardware,drone
+Author: Shivansh
+License-Expression: Apache-2.0
+License-File: LICENSE
+License-File: NOTICE
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Manufacturing
+Classifier: Intended Audience :: Science/Research
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Topic :: Scientific/Engineering
+Classifier: Topic :: Software Development :: Quality Assurance
+Classifier: Topic :: Software Development :: Testing
+Requires-Dist: numpy>=2.5.1
+Requires-Dist: pydantic>=2.13.4
+Requires-Dist: rich>=15.0.0
+Requires-Dist: ruamel-yaml>=0.19.1
+Requires-Dist: typer>=0.26.8
+Requires-Dist: xacro>=2.1.1
+Requires-Dist: pymavlink==2.4.50 ; extra == 'mavlink'
+Requires-Dist: mcp>=2.2.0 ; extra == 'mcp'
+Requires-Dist: pyjwt>=2.15 ; extra == 'mcp'
+Requires-Dist: robot-descriptions>=3.3.0,<4 ; extra == 'robots'
+Requires-Dist: xacrodoc>=2.0.1 ; extra == 'robots'
+Requires-Dist: mcap>=1.4.0 ; extra == 'ros2bag'
+Requires-Dist: mcap-ros2-support>=0.5.7 ; extra == 'ros2bag'
+Requires-Dist: fastapi>=0.141.1 ; extra == 'serve'
+Requires-Dist: uvicorn>=0.52.4 ; extra == 'serve'
+Requires-Python: >=3.12
+Project-URL: Homepage, https://github.com/Shivansh2703/lockwire
+Project-URL: Repository, https://github.com/Shivansh2703/lockwire
+Project-URL: Issues, https://github.com/Shivansh2703/lockwire/issues
+Provides-Extra: mavlink
+Provides-Extra: mcp
+Provides-Extra: robots
+Provides-Extra: ros2bag
+Provides-Extra: serve
+Description-Content-Type: text/markdown
+
+<p align="center">
+<picture>
+  <source media="(prefers-color-scheme: dark)" srcset="docs/img/logo-dark.svg">
+  <img src="docs/img/logo-light.svg" alt="lockwire" height="64">
+</picture>
+</p>
+
+**From idea to robot: catch the error in your robot model before the real robot does.**
+
+## Try it on your robot
+
+Needs Python 3.12 or newer and [uv](https://docs.astral.sh/uv/). Point it at your URDF, xacro or SDF (nothing is written):
+
+```bash
+uvx lockwire check robot.urdf
+```
+
+What you see, on the public TurtleBot3 Waffle Pi URDF:
+
+```console
+$ uvx lockwire check turtlebot3_waffle_pi.urdf
+VIOLATION datasheet/turtlebot3-waffle-pi/mass_total — observed URDF sum of link masses: 1.554, expected ROBOTIS TurtleBot3 Waffle Pi
+datasheet: 1.8 kg; the sheet's figure includes the battery, computer and sensors
+(Δ -13.7%)
+  source: https://emanual.robotis.com/docs/en/platform/turtlebot3/features/
+  ...
+NO-GO — 1 violation(s), 3 warning(s)
+  ...
+Lock it so CI catches drift: uvx lockwire start turtlebot3_waffle_pi.urdf
+```
+
+The model's links add up to 13.7% less than the maker's own published weight. Lockwire found
+that without being told, named the page it came from, and printed the next command. Errors like
+this are in public robot models today: [the fixes sent upstream](docs/ledger.md).
+
+## Lock it
+
+```bash
+uvx lockwire start robot.urdf
+```
+
+This writes `lockwire.yaml`, the robot's physics lockfile: every link's mass, centre of mass and
+inertia, every joint limit, and a hash of the model's structure. Commit it next to your model.
+From now on `uvx lockwire check` checks the lockfile, and a mass or joint limit edited in the
+model without re-locking is a NO-GO that names the value.
+
+## Run it in CI
+
+```bash
+uvx lockwire agent-setup --ci
+```
+
+That writes `.github/workflows/lockwire.yml`. Its step, with the three inputs most repos need:
+
+```yaml
+- uses: actions/checkout@v4
+- uses: Shivansh2703/lockwire@v0
+  with:
+    contract: lockwire.yaml    # the lockfile
+    # model: robot.urdf        # or check a model directly, with no lockfile
+    # adopt: "true"            # annotate and report, but never fail the job
+```
+
+A NO-GO fails the build, with annotations on the pull request and an HTML report.
+Every input, pre-commit and other CI systems: [docs/guides/ci.md](docs/guides/ci.md).
+
+## Let your AI agent check it
+
+```bash
+claude mcp add lockwire -- uvx --from "lockwire[mcp]" lockwire mcp
+uvx lockwire agent-setup
+```
+
+The first line gives Claude Code the checks over MCP. `agent-setup` writes the agent rules into
+AGENTS.md and the Claude Code one, plus a pre-commit hook and the CI workflow.
+Cursor, Claude Desktop and other agents: [docs/guides/agents.md](docs/guides/agents.md).
+
+## No robot file? Try an example
+
+servo-bench is built to fail: a 5 V rail overloaded on purpose, so you can see what a catch looks like.
+
+```console
+$ uvx lockwire start --example servo-bench
+wrote lockwire.yaml — example servo-bench (built to fail: a 5 V rail overloaded on purpose, so you can see what a catch looks like). Next: uvx lockwire check lockwire.yaml
+$ uvx lockwire check
+VIOLATION budgets/bud.power.servo-5v — observed 32.10 W, expected <= 15.00 W (Δ +17.10 W (+114%))
+  ...
+NO-GO — 1 violation(s), 0 warning(s)
+```
+
+The five robots (`--example drone`, `rover`, `arm`, `quadruped`, `humanoid`) are clean
+starting points; try your own robot for the catch.
+
+### Features
+
+- **Check:** see which physical numbers in your model do not add up, and the command that fixes each one.
+- **Lock:** keep those numbers in `lockwire.yaml`, so any drift is caught.
+- **CI:** the same check on every push, with pull-request annotations and an HTML report.
+- **Agents:** your AI coding agent runs the same check before it changes the robot.
+
+Everything else (datasheet comparisons, power, torque and bus budgets, ROS 2 bags, the
+powered-on preflight gate, the Python library): [the guides](docs/guides/index.md).
+
+## Download the app
+
+The free desktop app does the same visually: [latest release](https://github.com/Shivansh2703/lockwire/releases/latest).
+
+![Open the app, pick the Rover example, and the Check screen shows the TurtleBot3 in 3D with a GO with notes verdict: 0 problems, 4 checks not compared yet](docs/img/try-example.gif)
+
+- **macOS (Apple silicon):** unzip, open Lockwire. The app is not notarized, so the first open warns: open System Settings, Privacy & Security, and click "Open Anyway".
+- **Linux:** `chmod +x Lockwire-*.AppImage`, then run it. Ubuntu 22.04 needs `sudo apt install libfuse2`; 24.04 needs `libfuse2t64`.
+- **Windows:** not yet.
+
+Want it installed instead of run through uvx? `pip install lockwire`, then drop the `uvx`.
+
+## Development and licence
+
+See [CONTRIBUTING.md](CONTRIBUTING.md). Apache-2.0, all of it: see [LICENSE](LICENSE).

lockwire-0.2.6/README.md

@@ -0,0 +1,118 @@
+<p align="center">
+<picture>
+  <source media="(prefers-color-scheme: dark)" srcset="docs/img/logo-dark.svg">
+  <img src="docs/img/logo-light.svg" alt="lockwire" height="64">
+</picture>
+</p>
+
+**From idea to robot: catch the error in your robot model before the real robot does.**
+
+## Try it on your robot
+
+Needs Python 3.12 or newer and [uv](https://docs.astral.sh/uv/). Point it at your URDF, xacro or SDF (nothing is written):
+
+```bash
+uvx lockwire check robot.urdf
+```
+
+What you see, on the public TurtleBot3 Waffle Pi URDF:
+
+```console
+$ uvx lockwire check turtlebot3_waffle_pi.urdf
+VIOLATION datasheet/turtlebot3-waffle-pi/mass_total — observed URDF sum of link masses: 1.554, expected ROBOTIS TurtleBot3 Waffle Pi
+datasheet: 1.8 kg; the sheet's figure includes the battery, computer and sensors
+(Δ -13.7%)
+  source: https://emanual.robotis.com/docs/en/platform/turtlebot3/features/
+  ...
+NO-GO — 1 violation(s), 3 warning(s)
+  ...
+Lock it so CI catches drift: uvx lockwire start turtlebot3_waffle_pi.urdf
+```
+
+The model's links add up to 13.7% less than the maker's own published weight. Lockwire found
+that without being told, named the page it came from, and printed the next command. Errors like
+this are in public robot models today: [the fixes sent upstream](docs/ledger.md).
+
+## Lock it
+
+```bash
+uvx lockwire start robot.urdf
+```
+
+This writes `lockwire.yaml`, the robot's physics lockfile: every link's mass, centre of mass and
+inertia, every joint limit, and a hash of the model's structure. Commit it next to your model.
+From now on `uvx lockwire check` checks the lockfile, and a mass or joint limit edited in the
+model without re-locking is a NO-GO that names the value.
+
+## Run it in CI
+
+```bash
+uvx lockwire agent-setup --ci
+```
+
+That writes `.github/workflows/lockwire.yml`. Its step, with the three inputs most repos need:
+
+```yaml
+- uses: actions/checkout@v4
+- uses: Shivansh2703/lockwire@v0
+  with:
+    contract: lockwire.yaml    # the lockfile
+    # model: robot.urdf        # or check a model directly, with no lockfile
+    # adopt: "true"            # annotate and report, but never fail the job
+```
+
+A NO-GO fails the build, with annotations on the pull request and an HTML report.
+Every input, pre-commit and other CI systems: [docs/guides/ci.md](docs/guides/ci.md).
+
+## Let your AI agent check it
+
+```bash
+claude mcp add lockwire -- uvx --from "lockwire[mcp]" lockwire mcp
+uvx lockwire agent-setup
+```
+
+The first line gives Claude Code the checks over MCP. `agent-setup` writes the agent rules into
+AGENTS.md and the Claude Code one, plus a pre-commit hook and the CI workflow.
+Cursor, Claude Desktop and other agents: [docs/guides/agents.md](docs/guides/agents.md).
+
+## No robot file? Try an example
+
+servo-bench is built to fail: a 5 V rail overloaded on purpose, so you can see what a catch looks like.
+
+```console
+$ uvx lockwire start --example servo-bench
+wrote lockwire.yaml — example servo-bench (built to fail: a 5 V rail overloaded on purpose, so you can see what a catch looks like). Next: uvx lockwire check lockwire.yaml
+$ uvx lockwire check
+VIOLATION budgets/bud.power.servo-5v — observed 32.10 W, expected <= 15.00 W (Δ +17.10 W (+114%))
+  ...
+NO-GO — 1 violation(s), 0 warning(s)
+```
+
+The five robots (`--example drone`, `rover`, `arm`, `quadruped`, `humanoid`) are clean
+starting points; try your own robot for the catch.
+
+### Features
+
+- **Check:** see which physical numbers in your model do not add up, and the command that fixes each one.
+- **Lock:** keep those numbers in `lockwire.yaml`, so any drift is caught.
+- **CI:** the same check on every push, with pull-request annotations and an HTML report.
+- **Agents:** your AI coding agent runs the same check before it changes the robot.
+
+Everything else (datasheet comparisons, power, torque and bus budgets, ROS 2 bags, the
+powered-on preflight gate, the Python library): [the guides](docs/guides/index.md).
+
+## Download the app
+
+The free desktop app does the same visually: [latest release](https://github.com/Shivansh2703/lockwire/releases/latest).
+
+![Open the app, pick the Rover example, and the Check screen shows the TurtleBot3 in 3D with a GO with notes verdict: 0 problems, 4 checks not compared yet](docs/img/try-example.gif)
+
+- **macOS (Apple silicon):** unzip, open Lockwire. The app is not notarized, so the first open warns: open System Settings, Privacy & Security, and click "Open Anyway".
+- **Linux:** `chmod +x Lockwire-*.AppImage`, then run it. Ubuntu 22.04 needs `sudo apt install libfuse2`; 24.04 needs `libfuse2t64`.
+- **Windows:** not yet.
+
+Want it installed instead of run through uvx? `pip install lockwire`, then drop the `uvx`.
+
+## Development and licence
+
+See [CONTRIBUTING.md](CONTRIBUTING.md). Apache-2.0, all of it: see [LICENSE](LICENSE).

{lockwire-0.2.4 → lockwire-0.2.6}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "lockwire"
-version = "0.2.4"
+version = "0.2.6"
 description = "The physical-assumption contract for robots: checks that a robot's declared parts (power, weight, bus, torque) add up"
 readme = "README.md"
 authors = [
@@ -8,10 +8,11 @@ authors = [
 ]
 requires-python = ">=3.12"
 license = "Apache-2.0"
+license-files = ["LICENSE", "NOTICE"]
+# No "License ::" classifier: PEP 639 supersedes it with `license`, and backends refuse both.
 keywords = ["robotics", "urdf", "ros", "preflight", "lockfile", "ci", "hardware", "drone"]
 classifiers = [
     "Development Status :: 3 - Alpha",
-    "License :: OSI Approved :: Apache Software License",
     "Intended Audience :: Manufacturing",
     "Intended Audience :: Science/Research",
     "Programming Language :: Python :: 3.12",
@@ -30,6 +31,24 @@ dependencies = [
 ]
 
 [project.optional-dependencies]
+# Reading real ROS 2 bags. Optional on purpose: a plain install must stay lean
+# (the check path deliberately has no scipy), and a team that never touches
+# rosbag2 should not carry a decoder.
+#
+# The load-bearing property is that these need **no ROS installation**:
+# `mcap-ros2-support` depends only on `mcap`, which depends only on lz4 and
+# zstandard. So `preflight --from run.mcap` works in a bare venv on macOS, which
+# is what lets someone try lockwire against a bag they already have without
+# installing ROS first.
+ros2bag = [
+    "mcap>=1.4.0",
+    "mcap-ros2-support>=0.5.7",
+]
+# Protocol admission for observed MAVLink v2 common-dialect frames. The core
+# check/CLI path does not import it; field command mapping remains separate.
+mavlink = [
+    "pymavlink==2.4.50",
+]
 # Serving lockwire over MCP to an agent. Optional for the same reason as `ros2bag`:
 # a plain install must stay lean, and the SDK is only needed by `lockwire mcp`.
 mcp = [
@@ -44,6 +63,15 @@ serve = [
     "fastapi>=0.141.1",
     "uvicorn>=0.52.4",
 ]
+# `lockwire check go2`: a robot by name from robot_descriptions (Apache-2.0), which
+# git-clones the description repo once into ~/.cache/robot_descriptions; xacrodoc (MIT)
+# is what it expands xacro descriptions with, no ROS needed. Optional: it pulls
+# GitPython and needs `git`, which a plain install must not. <4: lockwire calls its
+# `_xacro.get_urdf_path`.
+robots = [
+    "robot_descriptions>=3.3.0,<4",
+    "xacrodoc>=2.0.1",
+]
 
 [project.urls]
 Homepage = "https://github.com/Shivansh2703/lockwire"
@@ -53,15 +81,29 @@ Issues = "https://github.com/Shivansh2703/lockwire/issues"
 [project.scripts]
 lockwire = "lockwire:main"
 
+[project.entry-points."lockwire.plugins"]
+pro = "lockwire_pro.plugin:register"
+
 [build-system]
 requires = ["uv_build>=0.11.26,<0.12.0"]
 build-backend = "uv_build"
 
+# One distribution, two importable packages: the core `lockwire` and `lockwire_pro`, the
+# plugin with the recording commands (preflight, baseline, health...), loaded via its entry point.
 [tool.uv.build-backend]
+module-name = ["lockwire", "lockwire_pro"]
 
 [dependency-groups]
 dev = [
     "mcp>=2.2.0",
+    # tests/test_ros2bag.py and tests/test_live_samples.py importorskip on this
+    # decoder. CI's `test` job runs a plain `uv sync --dev` (no extras), so
+    # without it here those tests silently never ran. Dev-only: the runtime
+    # `ros2bag` extra above stays optional so a plain install stays lean.
+    "mcap>=1.4.0",
+    "mcap-ros2-support>=0.5.7",
+    # Tests must exercise CRC/dialect admission instead of silently skipping it.
+    "pymavlink==2.4.50",
     # tests/test_serve.py needs the sidecar (`lockwire serve`) importable and
     # runnable as a subprocess. Same reasoning as `mcp`/`mcap` above: CI's
     # `test` job runs a plain `uv sync --dev`, so without these here that
@@ -74,6 +116,10 @@ dev = [
     # it is a build tool, never imported at runtime — and `tests/test_cli.py` imports it to
     # anchor the uvicorn hidden-import test against uvicorn's real module list (box e1-d2).
     "pyinstaller>=6.21.0",
+    # The `robots` extra, for the same reason: require_extras claims it, and
+    # tests/test_packaging_extras.py asserts every claimed module imports here.
+    "robot_descriptions>=3.3.0,<4",
+    "xacrodoc>=2.0.1",
     "pytest>=9.1.1",
     "pytest-xdist>=3.6.1",
     "ruff>=0.15.20,<0.16",  # 0.17 changes default rules
@@ -94,8 +140,19 @@ line-length = 100
 "scripts/measure_stacked_gate.py" = ["E402"]
 
 [tool.pytest.ini_options]
-pythonpath = ["."]
-testpaths = ["tests"]
+# `ros/lockwire_ros` is on the path so the ROS package's ROS-free halves
+# (`lockwire_ros.core`, `lockwire_ros.diagnostics`) are covered by the ordinary
+# suite on any machine. Those two modules hold the fail-closed decision and the
+# severity mapping — the parts with judgement in them — and leaving them
+# testable only inside a container would mean they were usually untested.
+pythonpath = [".", "ros/lockwire_ros"]
+# The ROS package's tests live in the ROS package, not in `tests/`, and the
+# reason is load-bearing rather than tidiness: they must also run inside a
+# Humble container where `lockwire` is deliberately NOT installed, and
+# `tests/conftest.py` imports it at collection time. Kept on testpaths so the
+# ordinary suite still covers them here. Cases needing rclpy `importorskip` it,
+# so they skip off-robot instead of erroring.
+testpaths = ["tests", "ros/lockwire_ros/test"]
 # chrome: drives real headless Chrome (subprocess spawn). scripts/pytest_slot.sh
 # excludes this marker from every non-exclusive (targeted) run so workers' test
 # runs never spawn Chrome processes; the cadence Check (--exclusive) still runs

lockwire-0.2.6/src/lockwire/__init__.py

@@ -0,0 +1,21 @@
+"""Lockwire — the physical-assumption contract for robots, enforced in CI and at preflight."""
+
+__version__ = "0.2.6"
+
+
+def main() -> None:
+    import sys
+
+    from lockwire.cli import app
+
+    try:
+        app()
+    except Exception as error:  # a crash is a bug, never a verdict: REFUSED (2), not NO-GO (1)
+        from rich.console import Console
+        from rich.markup import escape
+
+        Console(stderr=True).print(
+            f"[red]lockwire stopped: {type(error).__name__}: {escape(str(error))} "
+            "— this is a bug in lockwire, not a verdict[/]"
+        )
+        sys.exit(2)