kulisse

Device and scene models for arkitekt. A model is one self-contained binary glTF (GLB) with an optional joint table: what a viewer draws as a <Model> or drives as a <Robot>, what an app registers as an asset, and what a server keeps in a KulisseStore.

kulisse is strictly the authoring side, like fabriks for meshes: no network code, no storage opinions. The format is the contract (KULISSE.md), and the server reads it with its own implementation (arkitekt_datalayer.kulisse), never by importing this package.

pip install kulisse            # check, reference, snippet: standard library only
pip install "kulisse[urdf]"    # import URDF / Xacro (numpy, trimesh, pycollada, xacro)

kulisse import robot.urdf.xacro --out robot.glb --package my_robot=./share/my_robot
kulisse check robot.glb
kulisse joints robot.glb joints.json --out robot.glb
kulisse snippet robot.glb --name robot

import kulisse

report = kulisse.check("robot.glb")      # ModelReport, or ModelRefused(code, message)
kulisse.reference("robot.glb")           # "sha256:…", what a blok names as for_model
kulisse.snippet("robot.glb")             # '<Robot src="@self.assets.robot" … />'