pyros-robotics 1.0.0__tar.gz

pyros_robotics-1.0.0/.gitignore

@@ -0,0 +1,48 @@
+__pycache__/
+*.py[cod]
+*$py.class
+*.so
+*.egg-info/
+*.egg
+dist/
+build/
+.eggs/
+*.whl
+
+# Virtual environments
+.venv/
+venv/
+env/
+
+# IDE
+.idea/
+.vscode/
+*.swp
+*.swo
+.DS_Store
+
+# Testing
+.pytest_cache/
+.coverage
+htmlcov/
+.mypy_cache/
+.ruff_cache/
+
+# ROS2
+install/
+log/
+build/
+.ros/
+
+# Claude Code
+.claude/
+
+# Skills (Claude instructions, not source code)
+skills/
+
+# Environment / secrets
+.env
+.env.*
+
+# Distribution
+*.tar.gz

pyros_robotics-1.0.0/LICENSE

@@ -0,0 +1,198 @@
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pyros_robotics-1.0.0/PKG-INFO

@@ -0,0 +1,185 @@
+Metadata-Version: 2.4
+Name: pyros-robotics
+Version: 1.0.0
+Summary: Validation, repair, and forensics toolchain for ROS 2 workspaces
+Author: Pyros Team
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: ai,cli,robotics,ros2,simulation
+Classifier: Development Status :: 4 - Beta
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering :: Artificial Intelligence
+Requires-Python: >=3.10
+Requires-Dist: anthropic>=0.25
+Requires-Dist: click>=8.1
+Requires-Dist: inquirerpy>=0.3.4
+Requires-Dist: lxml>=4.9
+Requires-Dist: mcp>=1.0
+Requires-Dist: networkx>=3.0
+Requires-Dist: numpy>=1.24
+Requires-Dist: openai>=1.0
+Requires-Dist: prompt-toolkit>=3.0
+Requires-Dist: pyyaml>=6.0
+Requires-Dist: rich>=13.0
+Requires-Dist: textual>=0.40
+Requires-Dist: trimesh>=3.20
+Provides-Extra: all
+Requires-Dist: mujoco>=3.0; extra == 'all'
+Requires-Dist: openai>=1.0; extra == 'all'
+Requires-Dist: ruamel-yaml>=0.18; extra == 'all'
+Requires-Dist: scikit-optimize>=0.9; extra == 'all'
+Provides-Extra: anthropic
+Requires-Dist: anthropic>=0.25; extra == 'anthropic'
+Provides-Extra: dev
+Requires-Dist: jsonschema>=4.0; extra == 'dev'
+Requires-Dist: mypy; extra == 'dev'
+Requires-Dist: pytest-cov; extra == 'dev'
+Requires-Dist: pytest-timeout; extra == 'dev'
+Requires-Dist: pytest>=7.0; extra == 'dev'
+Requires-Dist: ruff; extra == 'dev'
+Provides-Extra: mujoco
+Requires-Dist: mujoco>=3.0; extra == 'mujoco'
+Provides-Extra: openai
+Requires-Dist: openai>=1.0; extra == 'openai'
+Provides-Extra: tuning-v2
+Requires-Dist: scikit-optimize>=0.9; extra == 'tuning-v2'
+Provides-Extra: yaml-preserve
+Requires-Dist: ruamel-yaml>=0.18; extra == 'yaml-preserve'
+Description-Content-Type: text/markdown
+
+# pyros
+
+**Pyros isn't an AI assistant for robotics engineers. Pyros is the robotics engineer.**
+
+Give it a workspace, a CAD export, or a bug. It owns the iteration loop —
+validate, repair, simulate, build — until the output ships. You review the
+artifact. Pyros writes it.
+
+```bash
+$ pyros run "fix examples/broken_arm_ws"
+  ✓  scan          1 URDF found
+  ✗  validate-urdf 4 errors
+  ✓  fix-urdf      2 auto-repaired → robot_fixed.urdf
+  ✓  validate-urdf 0 errors      ← convergence
+  ✓  colcon-build  passed
+
+artifact: .pyros/runs/run-2026-04-29T11-29-56.json
+duration: 0.22s
+```
+
+## Install
+
+```bash
+pip install pyros-robotics
+```
+
+## Use it from any agent (Claude Desktop, Cursor, Windsurf, Claude Code)
+
+Pyros ships an MCP server. Every primitive — `validate_urdf`, `fix_urdf`,
+`run`, `ci`, `analyze_bag`, `scan_logs`, `diagnose_qos`, `build_explain`,
+`launch_graph`, `urdf_diff`, `controllers_from_urdf` — is callable from any
+MCP-aware agent.
+
+Add to your client's MCP config:
+
+```json
+{
+  "mcpServers": {
+    "pyros": { "command": "pyros-mcp" }
+  }
+}
+```
+
+Then in your agent: *"Fix the URDFs in `~/work/robot_ws` and ship a clean
+build."* The agent calls `pyros.run`, which drives the full validate → fix
+→ build loop and returns a structured report.
+
+## Drop into CI
+
+Copy [`templates/github-actions/pyros-ci.yml`](./templates/github-actions/pyros-ci.yml)
+to `.github/workflows/pyros-ci.yml`. Pyros will run on every PR, validate
+every URDF, comment the verdict on the PR, and upload reports as workflow
+artifacts. Exit codes propagate, so failing checks block the merge.
+
+```yaml
+name: pyros-ci
+on: [pull_request]
+jobs:
+  pyros:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with: { python-version: "3.12" }
+      - run: pip install pyros-robotics
+      - run: pyros ci --json --skip-build > pyros-ci.json
+```
+
+## What it does (no LLM required)
+
+```bash
+# Repair a CAD-exported URDF (zero/missing inertias, wrong mesh paths, joint limits)
+pyros fix-urdf robot.urdf --package my_robot_description
+
+# Deep-validate a URDF: kinematic, dynamic, geometry, control checks
+pyros validate-urdf robot.urdf
+pyros validate-urdf robot.urdf --json   # for CI pipelines
+
+# Run all health checks against a workspace (doctor + URDFs + colcon + log scan)
+pyros ci -w ./my_robot_ws
+pyros ci -w ./my_robot_ws --json > report.json
+
+# Launch MuJoCo viewer offline (no auth, no LLM, no network)
+pyros sim-offline -w ./my_robot_ws
+
+# Forensics on running / past systems
+pyros doctor                 # environment health
+pyros analyze-bag run.mcap   # rosbag2 summary
+pyros scan-logs              # ~/.ros/log error scanner
+pyros diagnose-qos           # DDS/QoS mismatch checks
+pyros build-explain          # colcon errors → plain English
+
+# Workspace introspection
+pyros launch-graph my_pkg/launch/sim.launch.py
+pyros graph -w ./my_robot_ws
+```
+
+Exit codes for `validate-urdf` and `ci`: `0` clean, `1` warnings, `2` errors.
+Both emit JSON with `--json` so they drop into GitHub Actions / GitLab CI directly.
+
+## What it does (LLM optional)
+
+```bash
+# Generate a workspace from a description
+pyros                                          # interactive TUI
+pyros ask "build a 6-DOF arm with vacuum gripper"
+```
+
+Set `ANTHROPIC_API_KEY` or `OPENAI_API_KEY` to enable. Without keys, generation
+falls back to a deterministic builder that handles common robot types.
+
+## Why not just use ChatGPT or Claude?
+
+| Task | Chat LLM | Pyros |
+|---|---|---|
+| Write a URDF from a description | ✓ | ✓ (with validation loop) |
+| Detect non-positive-definite inertia tensor | ✗ | ✓ |
+| Repair zero-mass links and bad mesh paths in your file | ✗ | ✓ (`fix-urdf`) |
+| Run colcon build and translate the errors | ✗ | ✓ (`build-explain`) |
+| Read your running ROS system / DDS state | ✗ | ✓ (`diagnose-qos`, `doctor`) |
+| Sit in a CI pipeline with exit codes and JSON | ✗ | ✓ (`ci`) |
+| Scan rosbags for frequency drops and gaps | ✗ | ✓ (`analyze-bag`) |
+
+Pyros works on the file on disk, the bag on disk, the build output, and the
+running system. It is a toolchain, not a chat wrapper.
+
+## Status
+
+Beta — API stable, used in production by early teams. Report issues at
+<https://github.com/anthropics/pyros>.
+
+## License
+
+Apache-2.0

pyros_robotics-1.0.0/README.md

@@ -0,0 +1,134 @@
+# pyros
+
+**Pyros isn't an AI assistant for robotics engineers. Pyros is the robotics engineer.**
+
+Give it a workspace, a CAD export, or a bug. It owns the iteration loop —
+validate, repair, simulate, build — until the output ships. You review the
+artifact. Pyros writes it.
+
+```bash
+$ pyros run "fix examples/broken_arm_ws"
+  ✓  scan          1 URDF found
+  ✗  validate-urdf 4 errors
+  ✓  fix-urdf      2 auto-repaired → robot_fixed.urdf
+  ✓  validate-urdf 0 errors      ← convergence
+  ✓  colcon-build  passed
+
+artifact: .pyros/runs/run-2026-04-29T11-29-56.json
+duration: 0.22s
+```
+
+## Install
+
+```bash
+pip install pyros-robotics
+```
+
+## Use it from any agent (Claude Desktop, Cursor, Windsurf, Claude Code)
+
+Pyros ships an MCP server. Every primitive — `validate_urdf`, `fix_urdf`,
+`run`, `ci`, `analyze_bag`, `scan_logs`, `diagnose_qos`, `build_explain`,
+`launch_graph`, `urdf_diff`, `controllers_from_urdf` — is callable from any
+MCP-aware agent.
+
+Add to your client's MCP config:
+
+```json
+{
+  "mcpServers": {
+    "pyros": { "command": "pyros-mcp" }
+  }
+}
+```
+
+Then in your agent: *"Fix the URDFs in `~/work/robot_ws` and ship a clean
+build."* The agent calls `pyros.run`, which drives the full validate → fix
+→ build loop and returns a structured report.
+
+## Drop into CI
+
+Copy [`templates/github-actions/pyros-ci.yml`](./templates/github-actions/pyros-ci.yml)
+to `.github/workflows/pyros-ci.yml`. Pyros will run on every PR, validate
+every URDF, comment the verdict on the PR, and upload reports as workflow
+artifacts. Exit codes propagate, so failing checks block the merge.
+
+```yaml
+name: pyros-ci
+on: [pull_request]
+jobs:
+  pyros:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with: { python-version: "3.12" }
+      - run: pip install pyros-robotics
+      - run: pyros ci --json --skip-build > pyros-ci.json
+```
+
+## What it does (no LLM required)
+
+```bash
+# Repair a CAD-exported URDF (zero/missing inertias, wrong mesh paths, joint limits)
+pyros fix-urdf robot.urdf --package my_robot_description
+
+# Deep-validate a URDF: kinematic, dynamic, geometry, control checks
+pyros validate-urdf robot.urdf
+pyros validate-urdf robot.urdf --json   # for CI pipelines
+
+# Run all health checks against a workspace (doctor + URDFs + colcon + log scan)
+pyros ci -w ./my_robot_ws
+pyros ci -w ./my_robot_ws --json > report.json
+
+# Launch MuJoCo viewer offline (no auth, no LLM, no network)
+pyros sim-offline -w ./my_robot_ws
+
+# Forensics on running / past systems
+pyros doctor                 # environment health
+pyros analyze-bag run.mcap   # rosbag2 summary
+pyros scan-logs              # ~/.ros/log error scanner
+pyros diagnose-qos           # DDS/QoS mismatch checks
+pyros build-explain          # colcon errors → plain English
+
+# Workspace introspection
+pyros launch-graph my_pkg/launch/sim.launch.py
+pyros graph -w ./my_robot_ws
+```
+
+Exit codes for `validate-urdf` and `ci`: `0` clean, `1` warnings, `2` errors.
+Both emit JSON with `--json` so they drop into GitHub Actions / GitLab CI directly.
+
+## What it does (LLM optional)
+
+```bash
+# Generate a workspace from a description
+pyros                                          # interactive TUI
+pyros ask "build a 6-DOF arm with vacuum gripper"
+```
+
+Set `ANTHROPIC_API_KEY` or `OPENAI_API_KEY` to enable. Without keys, generation
+falls back to a deterministic builder that handles common robot types.
+
+## Why not just use ChatGPT or Claude?
+
+| Task | Chat LLM | Pyros |
+|---|---|---|
+| Write a URDF from a description | ✓ | ✓ (with validation loop) |
+| Detect non-positive-definite inertia tensor | ✗ | ✓ |
+| Repair zero-mass links and bad mesh paths in your file | ✗ | ✓ (`fix-urdf`) |
+| Run colcon build and translate the errors | ✗ | ✓ (`build-explain`) |
+| Read your running ROS system / DDS state | ✗ | ✓ (`diagnose-qos`, `doctor`) |
+| Sit in a CI pipeline with exit codes and JSON | ✗ | ✓ (`ci`) |
+| Scan rosbags for frequency drops and gaps | ✗ | ✓ (`analyze-bag`) |
+
+Pyros works on the file on disk, the bag on disk, the build output, and the
+running system. It is a toolchain, not a chat wrapper.
+
+## Status
+
+Beta — API stable, used in production by early teams. Report issues at
+<https://github.com/anthropics/pyros>.
+
+## License
+
+Apache-2.0

pyros_robotics-1.0.0/docs/schemas/README.md

@@ -0,0 +1,38 @@
+# Pyros JSON output schemas
+
+Every `pyros <cmd> --json` output and every MCP tool response includes a
+`"schema_version"` field. This directory documents the shape of each one
+so agents and CI tools have a stable contract.
+
+| Field across all outputs | Description |
+|---|---|
+| `schema_version` | Currently `"1.0"`. Bumped on breaking changes. |
+
+## Stability promise
+
+- A new field can be added in a `1.x` release.
+- Existing fields' types and meanings will not change without a major bump.
+- Removing or repurposing a field requires bumping `1.x` → `2.0`.
+
+## Schemas
+
+| File | Command / tool |
+|---|---|
+| [`run.schema.json`](./run.schema.json)             | `pyros run` · MCP `run` |
+| [`validate-urdf.schema.json`](./validate-urdf.schema.json) | `pyros validate-urdf` · MCP `validate_urdf` |
+| [`fix-urdf.schema.json`](./fix-urdf.schema.json)   | `pyros fix-urdf` · MCP `fix_urdf` |
+| [`ci.schema.json`](./ci.schema.json)               | `pyros ci` · MCP `ci` |
+| [`doctor.schema.json`](./doctor.schema.json)       | `pyros doctor` · MCP `doctor` |
+| [`urdf-diff.schema.json`](./urdf-diff.schema.json) | `pyros urdf-diff` · MCP `urdf_diff` |
+
+## Validating against a schema
+
+```python
+import json, jsonschema, subprocess
+out = subprocess.run(
+    ["pyros", "validate-urdf", "robot.urdf", "--json"],
+    capture_output=True, text=True,
+).stdout
+schema = json.load(open("docs/schemas/validate-urdf.schema.json"))
+jsonschema.validate(json.loads(out), schema)
+```

pyros_robotics-1.0.0/docs/schemas/ci.schema.json

@@ -0,0 +1,27 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://pyros.dev/schemas/ci.schema.json",
+  "title": "pyros ci / MCP ci output",
+  "description": "Workspace health-check suite suitable for CI: doctor + URDFs + colcon + log scan.",
+  "type": "object",
+  "required": ["schema_version", "workspace", "exit_code", "steps"],
+  "properties": {
+    "schema_version": { "const": "1.0" },
+    "workspace": { "type": "string" },
+    "elapsed_sec": { "type": "number", "minimum": 0 },
+    "exit_code": { "type": "integer", "enum": [0, 1, 2] },
+    "steps": {
+      "type": "array",
+      "items": {
+        "type": "object",
+        "required": ["name", "exit_code", "summary"],
+        "properties": {
+          "name":      { "type": "string", "description": "doctor | validate-urdf:<file> | colcon-build | log-scan" },
+          "exit_code": { "type": "integer", "enum": [0, 1, 2] },
+          "summary":   { "type": "string" },
+          "details":   { "type": "array" }
+        }
+      }
+    }
+  }
+}

pyros_robotics-1.0.0/docs/schemas/doctor.schema.json

@@ -0,0 +1,27 @@
+{
+  "$schema": "https://json-schema.org/draft/2020-12/schema",
+  "$id": "https://pyros.dev/schemas/doctor.schema.json",
+  "title": "pyros doctor / MCP doctor output",
+  "description": "System health check: ROS sourcing, DDS/RMW, workspace structure, diagnostics, colcon.",
+  "type": "object",
+  "required": ["schema_version", "passed", "checks"],
+  "properties": {
+    "schema_version": { "const": "1.0" },
+    "workspace":   { "type": "string" },
+    "elapsed_sec": { "type": "number", "minimum": 0 },
+    "passed":      { "type": "boolean" },
+    "checks": {
+      "type": "array",
+      "items": {
+        "type": "object",
+        "required": ["label", "ok"],
+        "properties": {
+          "label":    { "type": "string" },
+          "ok":       { "type": "boolean" },
+          "detail":   { "type": "string" },
+          "fix_hint": { "type": "string" }
+        }
+      }
+    }
+  }
+}