Metadata-Version: 2.5
Name: anvil-robotics
Version: 2.0.0-b5
Summary: The Python SDK for Anvil robot arms: real-time control, kinematics, teleoperation, recording and simulation
License-Expression: LicenseRef-Proprietary
License-File: LICENSE
Requires-Python: >=3.12
Requires-Dist: cffi>=2.0
Provides-Extra: sim
Requires-Dist: mujoco==3.13.0; extra == 'sim'
Requires-Dist: numpy; extra == 'sim'
Requires-Dist: pillow>=12.3.0; extra == 'sim'
Requires-Dist: protobuf>=7.36.2; extra == 'sim'
Description-Content-Type: text/markdown

# anvil-robotics

The SDK for [Anvil](https://anvil.bot) workcells, `import anvil`: the arms' kinematics, their controllers and the
real-time loop that runs them, the drives, the cameras, the recorder and its LeRobot export, and the sim, MuJoCo
standing in for the hardware so the same script runs without a robot.

```sh
pip install 'anvil-robotics[sim]'      # the SDK and the sim; without [sim], the SDK alone, as a Jetson takes it
```

```python
import anvil.sim
import anvil.workcell

workcell = anvil.workcell.WorkcellConfig.OPENYAM_V2_SINGLE
world = anvil.sim.World(robot=workcell.robot)
```

It ships one command, `anvil-robotics`: `anvil-robotics sim --viewer` serves the sim in a window, and on a Linux machine
that drives Anvil's arms, `anvil-robotics setup` grants the control loop its real-time priority, lets the CAN links come
up without a password and installs a real-time kernel where the machine takes one. `anvil-robotics setup-quest` sets a
computer up for a Meta Quest.

The web app over it is [`anvil-web`](https://pypi.org/project/anvil-web/): `uv tool install --python 3.12 anvil-web`,
then `anvil-web serve`. Documentation is at [docs.anvil.bot](https://docs.anvil.bot).

Anvil's own terms, in `LICENSE`: for use with Anvil's robots. The open-source software it is built with is listed in
the package's `THIRD_PARTY_NOTICES.txt`.
