physicalai-trossen-plugin 0.2.0__tar.gz

physicalai_trossen_plugin-0.2.0/.gitignore

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physicalai_trossen_plugin-0.2.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: physicalai-trossen-plugin
+Version: 0.2.0
+Summary: Trossen WidowX AI robot arm plugin for PhysicalAI
+Project-URL: Homepage, https://github.com/openvinotoolkit/physicalai
+Project-URL: Repository, https://github.com/openvinotoolkit/physicalai
+Project-URL: Issues, https://github.com/openvinotoolkit/physicalai/issues
+License-Expression: Apache-2.0
+Requires-Python: <3.14,>=3.12
+Requires-Dist: loguru>=0.7
+Requires-Dist: numpy>=1.24
+Requires-Dist: physicalai-studio-plugin>=0.3.0
+Requires-Dist: physicalai>=0.1.1
+Requires-Dist: pydantic>=2.0
+Requires-Dist: trossen-arm>=1.9.0
+Provides-Extra: tests
+Requires-Dist: pytest; extra == 'tests'
+Requires-Dist: pytest-anyio; extra == 'tests'
+Description-Content-Type: text/markdown
+
+# PhysicalAI Trossen Plugin
+
+Trossen WidowX AI robot drivers and Physical AI Studio catalog definitions for
+[PhysicalAI](https://github.com/openvinotoolkit/physicalai).
+
+## Installation
+
+```bash
+uv add physicalai-trossen-plugin
+```
+
+The plugin depends on `trossen-arm`. That SDK does not currently publish
+wheels for Python 3.14+, so use Python 3.12 or 3.13 when controlling a robot.
+
+## Usage
+
+```python
+from physicalai_trossen_plugin import WidowXAI
+
+robot = WidowXAI(ip="192.168.1.100", role="follower")
+```
+
+For two arms, construct `BimanualWidowXAI` from left and right `WidowXAI`
+instances. Installing this distribution also registers the Trossen entries in
+the Physical AI Studio robot catalog.
+
+## URDF assets
+
+This package vendors the generated URDFs and mesh assets required by its
+catalog entries from Trossen `trossen_arm_description` revision
+`21d8b360c211c2ad8a065d8f462cbec0207626e7`. The source license is preserved
+at [`urdf/LICENSE`](urdf/LICENSE).
+
+```python
+from physicalai_trossen_plugin import get_urdf_path
+
+urdf_root = get_urdf_path()
+single_arm_follower = urdf_root / "urdf/generated/wxai/wxai_follower.urdf"
+single_arm_leader = urdf_root / "urdf/generated/wxai/wxai_leader_left.urdf"
+bimanual_follower = urdf_root / "urdf/generated/stationary_ai.urdf"
+bimanual_leader = urdf_root / "urdf/generated/stationary_ai_leader.urdf"
+```
+
+The single-arm leader catalog entry uses the left-handed leader model. The
+bimanual leader model includes left- and right-handed leader arms.
+
+## Development
+
+```bash
+uv sync
+uv run pytest packages/physicalai-trossen-plugin/tests
+```

physicalai_trossen_plugin-0.2.0/README.md

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+# PhysicalAI Trossen Plugin
+
+Trossen WidowX AI robot drivers and Physical AI Studio catalog definitions for
+[PhysicalAI](https://github.com/openvinotoolkit/physicalai).
+
+## Installation
+
+```bash
+uv add physicalai-trossen-plugin
+```
+
+The plugin depends on `trossen-arm`. That SDK does not currently publish
+wheels for Python 3.14+, so use Python 3.12 or 3.13 when controlling a robot.
+
+## Usage
+
+```python
+from physicalai_trossen_plugin import WidowXAI
+
+robot = WidowXAI(ip="192.168.1.100", role="follower")
+```
+
+For two arms, construct `BimanualWidowXAI` from left and right `WidowXAI`
+instances. Installing this distribution also registers the Trossen entries in
+the Physical AI Studio robot catalog.
+
+## URDF assets
+
+This package vendors the generated URDFs and mesh assets required by its
+catalog entries from Trossen `trossen_arm_description` revision
+`21d8b360c211c2ad8a065d8f462cbec0207626e7`. The source license is preserved
+at [`urdf/LICENSE`](urdf/LICENSE).
+
+```python
+from physicalai_trossen_plugin import get_urdf_path
+
+urdf_root = get_urdf_path()
+single_arm_follower = urdf_root / "urdf/generated/wxai/wxai_follower.urdf"
+single_arm_leader = urdf_root / "urdf/generated/wxai/wxai_leader_left.urdf"
+bimanual_follower = urdf_root / "urdf/generated/stationary_ai.urdf"
+bimanual_leader = urdf_root / "urdf/generated/stationary_ai_leader.urdf"
+```
+
+The single-arm leader catalog entry uses the left-handed leader model. The
+bimanual leader model includes left- and right-handed leader arms.
+
+## Development
+
+```bash
+uv sync
+uv run pytest packages/physicalai-trossen-plugin/tests
+```

physicalai_trossen_plugin-0.2.0/pyproject.toml

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+[build-system]
+requires = ["hatchling<1.30", "hatch-vcs"]  # cap <1.30: hatchling>=1.30 emits Metadata 2.5, rejected by PyPI/twine (pypi/warehouse#19083)
+build-backend = "hatchling.build"
+
+[project]
+name = "physicalai-trossen-plugin"
+dynamic = ["version"]
+description = "Trossen WidowX AI robot arm plugin for PhysicalAI"
+readme = "README.md"
+requires-python = ">=3.12,<3.14"
+license = "Apache-2.0"
+dependencies = [
+    "physicalai>=0.1.1",
+    "physicalai-studio-plugin>=0.3.0",
+    "numpy>=1.24",
+    "loguru>=0.7",
+    "pydantic>=2.0",
+    "trossen-arm>=1.9.0",
+]
+
+[project.optional-dependencies]
+tests = ["pytest", "pytest-anyio"]
+
+[project.urls]
+Homepage = "https://github.com/openvinotoolkit/physicalai"
+Repository = "https://github.com/openvinotoolkit/physicalai"
+Issues = "https://github.com/openvinotoolkit/physicalai/issues"
+
+[project.entry-points."physicalai.studio.catalog_plugins"]
+trossen = "physicalai_trossen_plugin.studio_catalog:register_physicalai_studio_plugin"
+
+[tool.hatch.version]
+source = "vcs"
+tag-pattern = '^physicalai-trossen-plugin-v(?P<version>\d+(?:\.\d+)*)$'
+raw-options = { search_parent_directories = true, git_describe_command = "git describe --dirty --tags --long --match physicalai-trossen-plugin-v*" }
+
+[tool.hatch.build.targets.wheel]
+packages = ["src/physicalai_trossen_plugin"]
+
+[tool.hatch.build.targets.wheel.force-include]
+"urdf" = "urdf"
+
+[tool.hatch.build.targets.sdist]
+include = [
+    "src/physicalai_trossen_plugin/**",
+    "urdf/**",
+    "README.md",
+    "pyproject.toml",
+    "LICENSE",
+]
+
+[tool.pytest.ini_options]
+addopts = ["--strict-markers", "--strict-config", "-ra"]
+testpaths = "tests"
+pythonpath = "src"

physicalai_trossen_plugin-0.2.0/src/physicalai_trossen_plugin/__init__.py

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+# Copyright (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+# ruff: noqa: PLC0415
+
+"""Trossen WidowX AI robot integration for PhysicalAI."""
+
+from __future__ import annotations
+
+from typing import TYPE_CHECKING
+
+from physicalai_trossen_plugin._urdf import get_urdf_path as get_urdf_path
+
+if TYPE_CHECKING:
+    from physicalai_trossen_plugin.bimanual_widowxai import BimanualWidowXAI as BimanualWidowXAI
+    from physicalai_trossen_plugin.bimanual_widowxai import BimanualWidowXAIObservation as BimanualWidowXAIObservation
+    from physicalai_trossen_plugin.widowxai import WidowXAI as WidowXAI
+    from physicalai_trossen_plugin.widowxai import WidowXAIObservation as WidowXAIObservation
+
+__all__ = [
+    "BimanualWidowXAI",
+    "BimanualWidowXAIObservation",
+    "WidowXAI",
+    "WidowXAIObservation",
+    "get_urdf_path",
+]
+
+
+def __getattr__(name: str) -> object:
+    """Lazily import robot drivers without loading the vendor SDK on package import.
+
+    Returns:
+        The requested robot driver or observation type.
+
+    Raises:
+        AttributeError: If ``name`` is not exported by this package.
+    """
+    if name in {"WidowXAI", "WidowXAIObservation"}:
+        from physicalai_trossen_plugin.widowxai import WidowXAI, WidowXAIObservation
+
+        return {"WidowXAI": WidowXAI, "WidowXAIObservation": WidowXAIObservation}[name]
+    if name in {"BimanualWidowXAI", "BimanualWidowXAIObservation"}:
+        from physicalai_trossen_plugin.bimanual_widowxai import BimanualWidowXAI, BimanualWidowXAIObservation
+
+        return {
+            "BimanualWidowXAI": BimanualWidowXAI,
+            "BimanualWidowXAIObservation": BimanualWidowXAIObservation,
+        }[name]
+    msg = f"module {__name__!r} has no attribute {name!r}"
+    raise AttributeError(msg)

physicalai_trossen_plugin-0.2.0/src/physicalai_trossen_plugin/_urdf.py

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+# Copyright (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+"""URDF path utility for bundled Trossen robot descriptions."""
+
+from __future__ import annotations
+
+import importlib.resources as ir  # nosemgrep: python.lang.compatibility.python37.python37-compatibility-importlib2
+from typing import TYPE_CHECKING
+
+if TYPE_CHECKING:
+    from pathlib import Path
+
+
+def get_urdf_path() -> Path:
+    """Return the directory containing bundled Trossen description assets."""
+    traversal = ir.files("physicalai_trossen_plugin")
+    with ir.as_file(traversal) as package_path:
+        candidates = (package_path.parent / "urdf", package_path.parent.parent / "urdf")
+        for candidate in candidates:
+            if candidate.exists():
+                return candidate
+        return candidates[1]

physicalai_trossen_plugin-0.2.0/src/physicalai_trossen_plugin/bimanual_widowxai.py

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+# Copyright (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+"""Bimanual Trossen WidowX AI robot driver.
+
+Composes two :class:`WidowXAI` arms (left + right) behind the
+:class:`~physicalai.robot.Robot` protocol, prefixing all joint names with
+``left_`` / ``right_`` respectively.
+
+Usage::
+
+    from physicalai_trossen_plugin import WidowXAI, BimanualWidowXAI
+
+    left = WidowXAI(ip="192.168.1.10", role="follower")
+    right = WidowXAI(ip="192.168.1.11", role="follower")
+    robot = BimanualWidowXAI(left=left, right=right)
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass
+from typing import TYPE_CHECKING
+
+import numpy as np
+
+from physicalai.config import export_config
+from physicalai.robot import Robot
+
+if TYPE_CHECKING:
+    from physicalai.capture.frame import Frame
+    from physicalai.robot.interface import RobotObservation
+    from physicalai_trossen_plugin.widowxai import WidowXAI
+
+
+@dataclass
+class BimanualWidowXAIObservation:
+    """Merged observation from a bimanual WidowX AI robot.
+
+    Attributes:
+        joint_positions: Array of shape ``(14,)`` — left (7) then right (7)
+            with non-gripper joints in degrees and grippers in native scalar
+            units.
+        timestamp: ``time.monotonic()`` at the moment of capture (left arm).
+        sensor_data: Merged velocities and (for follower) external efforts,
+            each of shape ``(14,)``.
+        images: Always ``None`` — no built-in camera support.
+    """
+
+    joint_positions: np.ndarray
+    timestamp: float
+    sensor_data: dict[str, np.ndarray] | None = None
+    images: dict[str, Frame] | None = None
+
+    @property
+    def state(self) -> np.ndarray:
+        """State vector: joint positions (14)."""
+        return self.joint_positions
+
+
+@export_config(class_path="physicalai_trossen_plugin.BimanualWidowXAI")
+class BimanualWidowXAI(Robot):
+    """Two-arm WidowX AI driver composing a left and right :class:`WidowXAI`.
+
+    Args:
+        left: Left arm driver.
+        right: Right arm driver.
+
+    Raises:
+        ValueError: If the two arms have different roles.
+    """
+
+    def __init__(self, left: WidowXAI, right: WidowXAI) -> None:
+        """Initialize BimanualWidowXAI with two single-arm drivers.
+
+        Raises:
+            ValueError: If left and right arms have different roles.
+        """
+        if left.role != right.role:
+            msg = f"Both arms must have the same role; got left={left.role!r}, right={right.role!r}."
+            raise ValueError(msg)
+        if type(left) is not type(right):
+            msg = (
+                f"Both arms must be the same driver type; got left={type(left).__name__}, right={type(right).__name__}."
+            )
+            raise ValueError(msg)
+
+        self._left = left
+        self._right = right
+
+    @property
+    def role(self) -> str:
+        """Robot role (``"leader"`` or ``"follower"``)."""
+        return self._left.role
+
+    @property
+    def device_ids(self) -> tuple[str, ...]:
+        """Sorted, deduplicated device ids of both constituent arms."""
+        return tuple(sorted(set(self._left.device_ids) | set(self._right.device_ids)))
+
+    @property
+    def joint_names(self) -> list[str]:
+        """Ordered joint names with ``left_`` / ``right_`` prefix."""
+        left_names = [f"left_{n}" for n in self._left.joint_names]
+        right_names = [f"right_{n}" for n in self._right.joint_names]
+        return left_names + right_names
+
+    def connect(self) -> None:
+        """Connect both arms."""
+        self._left.connect()
+        try:
+            self._right.connect()
+        except Exception:
+            self._left.disconnect()
+            raise
+
+    def disconnect(self) -> None:
+        """Disconnect both arms."""
+        self._left.disconnect()
+        self._right.disconnect()
+
+    def is_connected(self) -> bool:
+        """Return ``True`` when both arms are connected."""
+        return self._left.is_connected() and self._right.is_connected()
+
+    def get_observation(self) -> RobotObservation:
+        """Read and merge observations from both arms.
+
+        Returns:
+            Merged observation with left-then-right joint positions and
+            sensor data arrays of shape ``(14,)``.
+        """
+        left_obs = self._left.get_observation()
+        right_obs = self._right.get_observation()
+
+        positions = np.concatenate([left_obs.joint_positions, right_obs.joint_positions])
+
+        sensor_data: dict[str, np.ndarray] | None = None
+        if left_obs.sensor_data is not None and right_obs.sensor_data is not None:
+            sensor_data = {
+                key: np.concatenate([left_value, right_obs.sensor_data[key]])
+                for key, left_value in left_obs.sensor_data.items()
+            }
+
+        return BimanualWidowXAIObservation(
+            joint_positions=positions,
+            timestamp=left_obs.timestamp,
+            sensor_data=sensor_data,
+        )
+
+    def send_action(self, action: np.ndarray, *, goal_time: float = 0.1) -> None:
+        """Send joint position command (follower only).
+
+        Args:
+            action: Array of shape ``(N,)`` where N >= 14. Only the first 14
+                elements (left 7 + right 7 positions) are used; extra
+                dimensions (e.g. predicted velocities) are ignored.
+            goal_time: Minimum time (seconds) for the arms to reach the target.
+
+        Raises:
+            RuntimeError: If called on a leader robot.
+            ValueError: If action has fewer than 14 elements.
+        """
+        if self.role == "leader":
+            msg = "Cannot send actions to a leader robot."
+            raise RuntimeError(msg)
+
+        n = self._left.NUM_JOINTS
+        min_dims = 2 * n
+        if action.shape[0] < min_dims:
+            msg = f"Expected at least {min_dims} action dims, got {action.shape}"
+            raise ValueError(msg)
+
+        action = action[:min_dims]
+        self._left.send_action(action[:n], goal_time=goal_time)
+        self._right.send_action(action[n:], goal_time=goal_time)
+
+    def set_external_efforts(self, efforts: np.ndarray, gain: float = 1.0) -> None:
+        """Apply force feedback (leader only).
+
+        Args:
+            efforts: Array of shape ``(14,)`` — left (7) then right (7) effort
+                values.
+            gain: Scaling factor for efforts. Defaults to 1.0.
+
+        Raises:
+            RuntimeError: If called on a follower robot.
+            ValueError: If efforts shape is not ``(14,)``.
+        """
+        if self.role != "leader":
+            msg = "set_external_efforts is only available for leader robots."
+            raise RuntimeError(msg)
+
+        n = self._left.NUM_JOINTS
+        expected_shape = (2 * n,)
+        if efforts.shape != expected_shape:
+            msg = f"Expected efforts shape {expected_shape}, got {efforts.shape}"
+            raise ValueError(msg)
+
+        self._left.set_external_efforts(efforts[:n], gain)
+        self._right.set_external_efforts(efforts[n:], gain)

physicalai_trossen_plugin-0.2.0/src/physicalai_trossen_plugin/constants.py

@@ -0,0 +1,22 @@
+# Copyright (C) 2026 Intel Corporation
+# SPDX-License-Identifier: Apache-2.0
+
+"""Trossen WidowX AI hardware constants."""
+
+from __future__ import annotations
+
+from typing import Final
+
+WIDOWXAI_JOINT_ORDER: Final = (
+    "shoulder_pan",
+    "shoulder_lift",
+    "elbow_flex",
+    "wrist_flex",
+    "wrist_yaw",
+    "wrist_roll",
+    "gripper",
+)
+
+VALID_ROLES: Final = frozenset({"leader", "follower"})
+
+HOME_POSITION: Final = (0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0)