physicalai-studio-plugin 0.1.0__tar.gz

physicalai_studio_plugin-0.1.0/.dockerignore

@@ -0,0 +1,3 @@
+*
+!pyproject.toml
+!src/

physicalai_studio_plugin-0.1.0/.gitignore

@@ -0,0 +1,212 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[codz]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py.cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# UV
+#   Similar to Pipfile.lock, it is generally recommended to include uv.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#uv.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+#poetry.toml
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#   pdm recommends including project-wide configuration in pdm.toml, but excluding .pdm-python.
+#   https://pdm-project.org/en/latest/usage/project/#working-with-version-control
+#pdm.lock
+#pdm.toml
+.pdm-python
+.pdm-build/
+
+# pixi
+#   Similar to Pipfile.lock, it is generally recommended to include pixi.lock in version control.
+#pixi.lock
+#   Pixi creates a virtual environment in the .pixi directory, just like venv module creates one
+#   in the .venv directory. It is recommended not to include this directory in version control.
+.pixi
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.envrc
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/
+
+# Abstra
+# Abstra is an AI-powered process automation framework.
+# Ignore directories containing user credentials, local state, and settings.
+# Learn more at https://abstra.io/docs
+.abstra/
+
+# Visual Studio Code
+#  Visual Studio Code specific template is maintained in a separate VisualStudioCode.gitignore
+#  that can be found at https://github.com/github/gitignore/blob/main/Global/VisualStudioCode.gitignore
+#  and can be added to the global gitignore or merged into this file. However, if you prefer,
+#  you could uncomment the following to ignore the entire vscode folder
+.vscode/
+.idea
+
+# Ruff stuff:
+.ruff_cache/
+
+# PyPI configuration file
+.pypirc
+
+# Cursor
+#  Cursor is an AI-powered code editor. `.cursorignore` specifies files/directories to
+#  exclude from AI features like autocomplete and code analysis. Recommended for sensitive data
+#  refer to https://docs.cursor.com/context/ignore-files
+.cursorignore
+.cursorindexingignore
+
+# Marimo
+marimo/_static/
+marimo/_lsp/
+__marimo__/
+
+# Custom
+tmp*
+lightning_logs
+.DS_Store

physicalai_studio_plugin-0.1.0/.pre-commit-config.yaml

@@ -0,0 +1,77 @@
+# Copyright (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+# Plugin SDK-specific pre-commit configuration for prek workspace mode
+# This config applies only to files in application/plugin/
+#
+# Kept in sync with application/backend/.pre-commit-config.yaml and
+# application/trainer/.pre-commit-config.yaml (the canonical setup for
+# Python apps in this repo). The backend's Alembic migration check is not
+# included because this workspace does not own a database schema.
+
+repos:
+  # ========================================================================== #
+  # PYTHON CHECKS                                                              #
+  # ========================================================================== #
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: debug-statements
+      - id: check-ast
+
+  # ========================================================================== #
+  # PYTHON LINTING & FORMATTING                                                #
+  # ========================================================================== #
+  - repo: https://github.com/charliermarsh/ruff-pre-commit
+    rev: "v0.11.11"
+    hooks:
+      # Run the linter with fixes (uses [tool.ruff] from pyproject.toml)
+      - id: ruff
+        args: ["--config=pyproject.toml", "--fix"]
+      # Run the formatter (uses [tool.ruff] from pyproject.toml)
+      - id: ruff-format
+        args: ["--config=pyproject.toml"]
+
+  # ========================================================================== #
+  # PYTHON TYPE CHECKING                                                       #
+  # ========================================================================== #
+  - repo: https://github.com/pre-commit/mirrors-mypy
+    rev: "v1.15.0"
+    hooks:
+      - id: mypy
+        # Uses [tool.mypy] from pyproject.toml
+        args: ["--config-file=pyproject.toml"]
+        additional_dependencies:
+          - types-PyYAML
+          - types-setuptools
+          - types-aiofiles
+
+  - repo: https://github.com/facebook/pyrefly-pre-commit
+    rev: 1.1.1
+    hooks:
+      - id: pyrefly-check
+        name: Pyrefly (type checking)
+        entry: uv run pyrefly check
+        language: system
+        pass_filenames: false
+
+  # ========================================================================== #
+  # SECURITY - SECRET DETECTION                                                #
+  # ========================================================================== #
+  # gitleaks detects secrets (API keys, tokens, credentials) in code.
+  - repo: https://github.com/gitleaks/gitleaks
+    rev: v8.30.1
+    hooks:
+      - id: gitleaks
+
+  # ========================================================================== #
+  # DEPENDENCY LOCKFILE CHECKS                                                 #
+  # ========================================================================== #
+  - repo: local
+    hooks:
+      - id: check-uv-lock
+        name: Check uv.lock is up to date
+        entry: uv lock --check
+        language: system
+        pass_filenames: false
+        files: ^(pyproject\.toml|uv\.lock)$

physicalai_studio_plugin-0.1.0/PKG-INFO

@@ -0,0 +1,7 @@
+Metadata-Version: 2.4
+Name: physicalai-studio-plugin
+Version: 0.1.0
+Summary: Plugin SDK for Physical AI Studio — types and protocols for building robot catalog plugins
+Requires-Python: >=3.12
+Requires-Dist: physicalai
+Requires-Dist: pydantic>=2.12

physicalai_studio_plugin-0.1.0/README.md

@@ -0,0 +1,352 @@
+# Physical AI Studio Plugin
+
+Types, protocols, and utilities for building robot catalog plugins for **Physical AI Studio**.
+
+External robot types register themselves with Studio through an [entry-point](#entry-point-registration) mechanism, so they can be discovered, configured, and driven without modifying Studio's internal code.
+
+---
+
+## Installation
+
+```bash
+uv add physicalai-studio-plugin
+```
+
+Requires Python 3.12+. Dependencies are `pydantic>=2.12` and `physicalai`.
+
+---
+
+## Quick Start
+
+A minimal plugin has this structure:
+
+```
+physicalai-my-robot-plugin/
+├── pyproject.toml
+├── README.md
+└── src/
+    └── physicalai_my_robot_plugin/
+        ├── __init__.py
+        └── studio_catalog.py
+```
+
+### `pyproject.toml`
+
+```toml
+[project]
+name = "physicalai-my-robot-plugin"
+version = "0.1.0"
+requires-python = ">=3.12"
+dependencies = [
+    "physicalai",
+    "physicalai-studio-plugin",
+]
+
+[project.entry-points."physicalai.studio.catalog_plugins"]
+my-robot = "physicalai_my_robot_plugin.studio_catalog:register_physicalai_studio_plugin"
+
+[build-system]
+requires = ["hatchling"]
+build-backend = "hatchling.build"
+```
+
+### `studio_catalog.py`
+
+```python
+from __future__ import annotations
+
+from collections.abc import Awaitable, Callable
+from pathlib import Path
+from typing import TYPE_CHECKING, Any
+
+from physicalai.robot.interface import Robot as PhysicalAIRobot
+from physicalai_studio_plugin import (
+    CatalogRobotFactory,
+    PortScanner,
+    RobotAdapterOptions,
+    RobotAsset,
+    RobotCatalogDefinition,
+    RobotProbe,
+    SerialPortInfo,
+)
+from pydantic import BaseModel, Field
+
+if TYPE_CHECKING:
+    from physicalai_studio_plugin import CatalogRobot
+
+
+class MyRobotPayload(BaseModel):
+    connection_string: str = ""
+    serial_number: str = Field(...)
+
+
+async def _build_my_robot(
+    robot: CatalogRobot[MyRobotPayload],
+    factory: CatalogRobotFactory,
+) -> PhysicalAIRobot:
+    port = await factory.find_port(
+        SerialPortInfo(
+            connection_string=robot.payload.connection_string or None,
+            serial_number=robot.payload.serial_number or None,
+        )
+    )
+    if port is None:
+        msg = f"Robot not found: {robot.payload.serial_number}"
+        raise RuntimeError(msg)
+    # ... create and return your PhysicalAIRobot implementation ...
+
+
+class MyRobotProbe:
+    """Structurally implements RobotProbe[MyRobotPayload]."""
+
+    async def discover(self, manager: PortScanner) -> list[SerialPortInfo]:
+        await manager.find_robots()
+        return manager.robots
+
+    async def identify(
+        self, payload: MyRobotPayload, manager: PortScanner | None, joint: str | None = None
+    ) -> None:
+        pass
+
+    async def is_online(
+        self, payload: MyRobotPayload, manager: PortScanner | None = None
+    ) -> bool:
+        return True
+
+
+def _definitions() -> list[RobotCatalogDefinition[MyRobotPayload]]:
+    return [
+        RobotCatalogDefinition[MyRobotPayload](
+            type="MyRobot_Follower",
+            display_name="My Robot Follower",
+            role="follower",
+            robot_builder=_build_my_robot,
+            robot_payload=MyRobotPayload,
+            asset=RobotAsset(
+                urdf_relative_path=Path("my_robot/model.urdf"),
+                packages={"my_robot": Path("my_robot")},
+                joint_map={"gripper.pos": ["gripper"]},
+                root_resolver=lambda: Path("/path/to/urdf"),
+            ),
+            adapter_options=RobotAdapterOptions(include_velocities=True),
+            probe=MyRobotProbe(),
+        ),
+    ]
+
+
+def register_physicalai_studio_plugin(registry: Any) -> None:
+    for definition in _definitions():
+        registry.register_robot(definition)
+```
+
+---
+
+## API Reference
+
+### `RobotCatalogDefinition`
+
+The primary data class that describes a robot type to Studio. Generic over the payload model — use ``RobotCatalogDefinition[MyRobotPayload]`` to link the payload, probe, and robot builder types together.
+
+```python
+@dataclass
+class RobotCatalogDefinition(Generic[_PayloadT]):
+    type: str                        # Unique identifier, e.g. "MyRobot_Follower"
+    display_name: str                # Human-readable name
+    role: Literal["follower", "leader"]
+    robot_builder: BuildRobotCallable | None = None
+    robot_payload: type[_PayloadT] | None = None
+    asset: RobotAsset | None = None
+    adapter_options: RobotAdapterOptions = field(default_factory=RobotAdapterOptions)
+    probe: RobotProbe[_PayloadT] | None = None
+```
+
+| Field | Description |
+|-------|-------------|
+| `type` | Stable identifier used in DB storage and API paths. Must be unique across all plugins. Convention: PascalCase with underscores, e.g. `"MyRobot_Follower"`. |
+| `display_name` | Human-readable name shown in the Studio UI. |
+| `role` | Either `"follower"` (executes actions) or `"leader"` (provides demonstrations). |
+| `robot_builder` | Async callable that receives a robot payload and factory, returns a `PhysicalAIRobot` instance. |
+| `robot_payload` | A Pydantic `BaseModel` subclass defining the configuration fields for this robot type (e.g. `serial_number`, `connection_string`). |
+| `asset` | URDF and package maps for 3D visualization. |
+| `adapter_options` | Controls velocity/effort forwarding behavior. |
+| `probe` | Optional [`RobotProbe[_PayloadT]`](#robotprobe) typed to the same payload model. |
+
+### `RobotAdapterOptions`
+
+```python
+@dataclass(frozen=True)
+class RobotAdapterOptions:
+    include_velocities: bool = False
+    goal_time_scale: float = 1.0
+    external_effort_gain: float | None = 0.1
+```
+
+### `RobotAsset`
+
+```python
+@dataclass(frozen=True)
+class RobotAsset:
+    urdf_relative_path: Path
+    packages: dict[str, Path]
+    joint_map: dict[str, list[str]]
+    root_resolver: Callable[[], Path] | None = None
+```
+
+| Field | Description |
+|-------|-------------|
+| `urdf_relative_path` | Path to the URDF file, relative to the packages root. |
+| `packages` | Maps ROS package names to their filesystem paths, e.g. `{"my_robot": Path("my_robot")}`. |
+| `joint_map` | Maps Studio's observation key names (e.g. `"gripper.pos"`) to URDF joint name(s). |
+| `root_resolver` | Callable that returns the root directory for URDF lookup. Used by Studio to resolve URDF paths for the API. |
+
+### `RobotProbe`
+
+```python
+@runtime_checkable
+class RobotProbe(Protocol[_PayloadT]):
+    async def discover(self, manager: PortScanner) -> list[SerialPortInfo]: ...
+    async def identify(
+        self, payload: _PayloadT, manager: PortScanner | None, joint: str | None = None
+    ) -> None: ...
+    async def is_online(
+        self, payload: _PayloadT, manager: PortScanner | None = None
+    ) -> bool: ...
+```
+
+Generic protocol over your robot's payload model. Implement it structurally — your class receives the typed payload directly instead of a raw dict. The ``_PayloadT`` type parameter is automatically inferred from ``identify`` / ``is_online`` signatures; you do not need to explicitly inherit from ``RobotProbe``.
+
+### `PortScanner`
+
+```python
+class PortScanner(Protocol):
+    async def find_robots(self) -> None: ...
+    @property
+    def robots(self) -> list[SerialPortInfo]: ...
+```
+
+Duck-type protocol for serial/network port scanners. Call `find_robots()` to refresh the device list, then read `robots` for the current results.
+
+### `CatalogRobotFactory`
+
+```python
+class CatalogRobotFactory(Protocol):
+    async def find_port(self, port_info: SerialPortInfo) -> str | None: ...
+```
+
+Factory protocol passed to your `robot_builder` callable. Use `find_port(SerialPortInfo(...))` to resolve a connection by serial number and/or configured connection string. Calibration data is now embedded in the robot payload model and does not require a factory method.
+
+### `SerialPortInfo`
+
+```python
+class SerialPortInfo(BaseModel):
+    connection_string: str | None
+    serial_number: str | None
+```
+
+Describes a discovered serial or network connection.
+
+### `PayloadContainer` / `CatalogRobot`
+
+```python
+class PayloadContainer(Protocol[_PayloadT]):
+    payload: _PayloadT
+
+class CatalogRobot(PayloadContainer[_PayloadT], Protocol[_PayloadT]):
+    type: str
+```
+
+Protocols for the robot descriptor passed to `robot_builder`. The `payload` is an instance of your `robot_payload` model.
+
+### `BuildRobotCallable`
+
+```python
+BuildRobotCallable = Callable[[_RobotT, _FactoryT], Awaitable[PhysicalAIRobot]]
+```
+
+Type alias for the `robot_builder` callable signature.
+
+---
+
+## Entry Point Registration
+
+Studio discovers plugins via Python [entry points](https://packaging.python.org/en/latest/specifications/entry-points/) in the group `physicalai.studio.catalog_plugins`.
+
+In your `pyproject.toml`:
+
+```toml
+[project.entry-points."physicalai.studio.catalog_plugins"]
+my-robot = "physicalai_my_robot_plugin.studio_catalog:register_physicalai_studio_plugin"
+```
+
+The callable must accept a single argument — the registry — and call `registry.register_robot(definition)` for each robot type:
+
+```python
+def register_physicalai_studio_plugin(registry: Any) -> None:
+    for definition in _definitions():
+        registry.register_robot(definition)
+```
+
+Studio calls all discovered entry points at startup. Duplicate `type` values raise a `ValueError`.
+
+---
+
+## Robot Builder Pattern
+
+The `robot_builder` is an async function that receives a robot descriptor and a factory, performs connection setup, and returns a `PhysicalAIRobot`:
+
+```python
+from physicalai_studio_plugin import CatalogRobot
+
+async def _build_my_robot(
+    robot: CatalogRobot[MyRobotPayload],
+    factory: CatalogRobotFactory,
+) -> PhysicalAIRobot:
+    # `robot.payload` is already a validated MyRobotPayload instance.
+    # 1. Resolve the connection
+    port = await factory.find_port(
+        SerialPortInfo(
+            connection_string=robot.payload.connection_string or None,
+            serial_number=robot.payload.serial_number or None,
+        )
+    )
+    if port is None:
+        msg = f"Robot not found: {robot.payload.serial_number}"
+        raise RuntimeError(msg)
+
+    # 2. Return the driver
+    return MyRobotDriver(port=port, ...)
+```
+
+---
+
+## Testing
+
+Create a minimal test file alongside your plugin:
+
+```python
+from __future__ import annotations
+
+from physicalai_studio_plugin import RobotCatalogDefinition, SerialPortInfo
+
+
+def _fake_registry():
+    class _FakeRegistry:
+        def __init__(self):
+            self.definitions: list[RobotCatalogDefinition] = []
+
+        def register_robot(self, definition: RobotCatalogDefinition) -> None:
+            self.definitions.append(definition)
+
+    return _FakeRegistry()
+
+
+def test_plugin_registration():
+    from physicalai_my_robot_plugin.studio_catalog import (
+        register_physicalai_studio_plugin,
+    )
+
+    registry = _fake_registry()
+    register_physicalai_studio_plugin(registry)
+    assert len(registry.definitions) == 1
+    assert registry.definitions[0].type == "MyRobot_Follower"
+```