cyberwave-geometry (Python)
Python binding for the Cyberwave geometry core. It holds no formulas of its own — every function here marshals to the C++ library and back. Adding arithmetic to this package would recreate exactly the duplication the core exists to remove.
Install
pip install cyberwave-geometry
The wheel carries libcyberwave_geometry_c beside the package, so a normal
install needs no compiler and no separate build. Wheels are published for
CPython 3.10-3.14 on manylinux x86_64/aarch64, macOS arm64/x86_64 and
Windows AMD64; there is no sdist, because this package compiles the core from
the repository root and cannot build from bindings/python alone.
At import time the package looks for the library, in order:
$CYBERWAVE_GEOMETRY_LIBRARY— an explicit path;- beside the package, or in
cyberwave_geometry/_lib/— how a built wheel ships; $CYBERWAVE_GEOMETRY_BUILD_DIR— a developer's CMake build tree;- the platform loader's own search path.
For local development, from a checkout of the repository:
cmake -S . -B build && cmake --build build -j
export CYBERWAVE_GEOMETRY_LIBRARY=$PWD/build/libcyberwave_geometry_c.so
pip install -e ./bindings/python
If it cannot find the library the ImportError prints every path it tried.
Use
from cyberwave_geometry import Quaternion, Transform, Vector3
from cyberwave_geometry import quaternion as quat, transform as tf
q = quat.from_rpy(0.1, 0.2, 0.3) # fixed-axis XYZ, the URDF convention
tf.compose(parent, child)
quat.rotate(q, Vector3(1, 0, 0))
Forward kinematics takes a parsed description — this package does not read the Universal Robot Schema, URDF or MJCF; your schema reader does, and hands the result over:
from cyberwave_geometry import JointType
from cyberwave_geometry.fk import JointDescription, RobotDescription, RobotTree
tree = RobotTree(RobotDescription(
links=["base_link", "tool"],
joints=[JointDescription("j", "base_link", "tool", JointType.REVOLUTE,
axis=Vector3(0, 0, 1))],
))
pose = tree.frame_pose("tool", joint_positions={"j": 1.57})
if pose.available:
print(pose.transform)
else:
print("waiting on", pose.missing_joints)
Three outcomes, kept distinct on purpose: a pose, available=False with
missing_joints when the robot has not reported that state yet, and a raised
GeometryError for a structural problem. Collapsing any of them into a default
pose is the failure mode this library prevents.
GPS poses
A position on Earth is Geodetic(latitude_deg, longitude_deg, altitude_m) --
WGS-84, degrees and metres. A six-degree-of-freedom pose is a GeoPose, whose
orientation maps the body frame (forward-left-up) into the local ENU frame
at its own position:
from cyberwave_geometry import GeoAnchor, Geodetic, GeoPose
from cyberwave_geometry import geodetic as geo
anchor = GeoAnchor(Geodetic(47.3769, 8.5417, 408.0), heading_deg=30.0)
geo.to_local(anchor, Geodetic(47.3801, 8.5500, 421.0)) # -> Vector3, metres
geo.to_local_pose(anchor, pose) # -> Transform, ready for FK
geo.from_local_pose(anchor, transform) # -> GeoPose
heading_deg is the true-north bearing of environment +Y, so 0 means the
environment frame is ENU. Altitude carries no datum -- MSL vs ellipsoidal is
recorded beside the data and never converted here.
Compass bearings and NED attitudes are foreign conventions and go through named
adapters, for the same reason wxyz does:
geo.quat_from_compass_heading(137.5) # degrees CLOCKWISE from true north
geo.quat_from_ned_rpy(roll, pitch, yaw) # radians; NED pitch is nose-UP
Two traps the adapters exist to prevent: feeding NED angles straight into
quat.from_rpy is right at 45 degrees and 90 degrees wrong at every cardinal
heading, and NED positive pitch is nose-up where ENU/FLU positive pitch is
nose-down. The full convention is
CONVENTIONS.md
section 9.
Strict by default
Degenerate input raises rather than becoming an identity rotation:
quat.normalize(Quaternion(0, 0, 0, 0)) # GeometryError: invalid_quaternion
geo.validate(Geodetic(91.0, 0.0, 0.0)) # GeometryError: invalid_geodetic
Geodetic values are stricter still: Geodetic.from_dict refuses a missing
coordinate rather than defaulting it to zero, because (0, 0) is a real place
in the Gulf of Guinea -- a silently relocated robot, not an obvious failure.
Where a call site must stay lenient — parsing persisted JSON that predates any
validation — use cyberwave_geometry.compat, which keeps the identity fallback
but names it:
from cyberwave_geometry import compat
compat.normalize_quaternion_or_identity(whatever_was_stored)
compat.quaternion_from_wire(values, order="xyzw") # order is not optional
Component order
A bare four-element array is ambiguous between xyzw (protobuf, ROS, Three.js)
and wxyz (MuJoCo, legacy backend payloads), and reading one as the other is
silent — you get a real, unit, plausible, wrong rotation. So there is no
positional constructor:
Quaternion.from_xyzw(protobuf_values)
Quaternion.from_wxyz(mujoco_values)
q.to_xyzw()
The dataclass fields are declared x, y, z, w — the Cyberwave order, matching
cw_geom_quat and the C++ core — so a positional Quaternion(a, b, c, d) is
xyzw. Construct with keywords (Quaternion(x=…, y=…, z=…, w=…)) or the named
converters above rather than relying on that.
Why ctypes and not a compiled extension
There are no formulas on this side at all -- every function marshals to the C++
core and back -- so a compiled extension would buy nothing but build complexity.
The C ABI is the seam a compiled accelerator would slot into later without
changing anything above _native.py.
Tests
cd bindings/python && python -m pytest
tests/test_golden.py runs the shared
golden vectors — the same file the C++
runner reads, which is what makes "C++ and Python agree" a tested claim.
tests/test_binding.py covers what only exists on this side: handle lifetimes,
the strict/lenient split, and the named-component discipline.
tests/test_geodetic.py covers the geodetic marshalling -- three bare doubles
across an ABI, where a field swap would place a robot in the wrong hemisphere
without raising anything.
1 maintainer
Release files for cyberwave-geometry 0.2.0
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