Metadata-Version: 2.4
Name: physicalai-trossen-plugin
Version: 0.1.0
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
```
