marinholab-sas-core

Python bindings for the ROS-free SmartArmStack C++ core.

This repository wraps MarinhoLab/sas_cpp (the pure-C++ part of SmartArmStack/sas_core) with pybind11, exposing it to Python as the marinholab.sas.core package.

More information about SmartArmStack is available in smartarmstack.github.io.

marinholab/sas/core/ — the Python package.
- _core.* — compiled pybind11 extension (the C++ bindings live in src/).
- modeling/ — kinematic modeling bindings (re-exported from _core).
- papers/ — reference implementations from published work.
  - papers/icra2019/ — the task-space Controller (RCM + joint-limit constraints as a QP) from "A Unified Framework for the Teleoperation of Surgical Robots in Constrained Workspaces" (ICRA 2019).
- example_*.py — example scripts (also installed as commands).
src/ — the C++ binding sources (ported from SmartArmStack/sas_core).
submodules/sas_cpp — the C++ core (git submodule, consumed via CMake).
submodules/dqrobotics_cpp — the dqrobotics C++ library (git submodule, pinned to the commit the required dqrobotics Python release is built from).
submodules/pybind11 — pybind11 (git submodule, pinned to v3.0.4).
docker/ — ubuntu:noble build environment and full test pipeline.

The C++ core depends on Eigen3 and dqrobotics. dqrobotics is compiled from the submodules/dqrobotics_cpp submodule and linked statically into the extension module, together with the C++ core, so no dqrobotics library needs to be installed. The Python package additionally depends on the dqrobotics Python package, which registers the dual-quaternion and robot-model types the bindings expose (pybind11 shares them between the two extension modules, so the submodule is kept at the same dqrobotics/cpp commit as that release).

Installation

From PyPI, with wheels for Python 3.10–3.14 on Linux (x86_64, aarch64), macOS (arm64, 14.0 or later) and Windows (x86_64):

pip install marinholab-sas-core

The wheels match the Python versions that dqrobotics publishes wheels for, in its pre-releases, which the requirement dqrobotics>=26.4.0a7 selects.

From source:

git clone --recursive https://github.com/MarinhoLab/sas_py.git
cd sas_py
pip install . --no-build-isolation

Building requires cmake (>= 3.16), ninja, a C++17 compiler and Eigen3. On Debian/Ubuntu:

sudo apt install build-essential g++ cmake ninja-build python3-dev libeigen3-dev

On macOS, with Eigen from Homebrew:

brew install eigen cmake ninja
CMAKE_ARGS="-DCMAKE_PREFIX_PATH=$(brew --prefix)" pip install . --no-build-isolation

On Windows, Eigen comes from vcpkg, expected at C:/vcpkg (vcpkg install eigen3:x64-windows).

Usage

from marinholab.sas.core import (
    Clock,
    Statistics,
    RobotDriver,
    ShutdownSignaler,
)

# High-resolution sampling clock
clock = Clock(0.01)          # 10 ms sampling period
clock.init()
for _ in range(100):
    clock.update_and_sleep()
print(clock.get_statistics(Statistics.Mean, Clock.TimeType.Computational))

# Subclass RobotDriver to drive hardware
class MyDriver(RobotDriver):
    def __init__(self, ss):
        super().__init__(ss)
    def get_joint_positions(self):
        return np.zeros(6)
    def set_target_joint_positions(self, target):
        ...
    def connect(self):
        ...
    def disconnect(self):
        ...
    def initialize(self):
        ...
    def deinitialize(self):
        ...

Kinematic modeling

import numpy as np
from dqrobotics import DQ
from marinholab.sas.core import SerialManipulatorSimulatorFriendly

# 3 revolute joints about X, Y, Z with zero per-joint offsets.
arm = SerialManipulatorSimulatorFriendly(
    offset_before=[DQ([1]), DQ([1]), DQ([1])],
    offset_after=[DQ([1]), DQ([1]), DQ([1])],
    actuation_types=[
        SerialManipulatorSimulatorFriendly.ActuationType.RX,
        SerialManipulatorSimulatorFriendly.ActuationType.RY,
        SerialManipulatorSimulatorFriendly.ActuationType.RZ,
    ],
)
q = np.array([0.1, -0.2, 0.3])
x = arm.raw_fkm(q, 2)                 # dual-quaternion pose of the end-effector
J = arm.raw_pose_jacobian(q, 2)       # 8 x 3 pose Jacobian

The examples are installed as commands:

sas_core_clock_example — a 10 ms Clock with timing statistics.
sas_core_clock_sched_fifo_example — a 1 ms Clock under SCHED_FIFO.
sas_core_robot_driver_subclass_example — subclass RobotDriver in Python and exercise the trampoline (connect / initialize / targets / limits).

Versioning

The version is computed from git tags at build time by setuptools-git-versioning. A monthly version tag of the form YY.MM (e.g. 26.09) plus the number of commits since that tag yields a rolling YY.MM.NN version (e.g. 26.09.3), mirroring MarinhoLab/sas_cpp. An untagged checkout builds as 0.0.1 (a development version).

Testing

A full build + test pipeline runs in an ubuntu:noble container:

cd docker
docker compose run --rm marinholab_sas_core

License

See LICENSE for details (LGPLv3).

Metadata

Release files for marinholab-sas-core 26.9.14

For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.

Built distributions (wheels)

Table of built distributions (wheels) for marinholab-sas-core 26.9.14
File	Interpreter	ABI	Platform	Reset
marinholab_sas_core-26.9.14-cp314-cp314-win_amd64.whl 203.3 kB Oct 1, 2026	CPython 3.14	CPython 3.14	Windows x86-64	Details
marinholab_sas_core-26.9.14-cp314-cp314-manylinux_2_39_x86_64.whl 297.2 kB Oct 1, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.39+ x86-64	Details
marinholab_sas_core-26.9.14-cp314-cp314-manylinux_2_39_aarch64.whl 263.2 kB Oct 1, 2026	CPython 3.14	CPython 3.14	Linux glibc 2.39+ ARM64	Details
marinholab_sas_core-26.9.14-cp314-cp314-macosx_14_0_arm64.whl 171.9 kB Oct 1, 2026	CPython 3.14	CPython 3.14	macOS 14.0+ ARM64	Details
marinholab_sas_core-26.9.14-cp313-cp313-win_amd64.whl 198.5 kB Oct 1, 2026	CPython 3.13	CPython 3.13	Windows x86-64	Details
marinholab_sas_core-26.9.14-cp313-cp313-manylinux_2_39_x86_64.whl 297.1 kB Oct 1, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.39+ x86-64	Details
marinholab_sas_core-26.9.14-cp313-cp313-manylinux_2_39_aarch64.whl 263.0 kB Oct 1, 2026	CPython 3.13	CPython 3.13	Linux glibc 2.39+ ARM64	Details
marinholab_sas_core-26.9.14-cp313-cp313-macosx_14_0_arm64.whl 171.4 kB Oct 1, 2026	CPython 3.13	CPython 3.13	macOS 14.0+ ARM64	Details
marinholab_sas_core-26.9.14-cp312-cp312-win_amd64.whl 198.5 kB Oct 1, 2026	CPython 3.12	CPython 3.12	Windows x86-64	Details
marinholab_sas_core-26.9.14-cp312-cp312-manylinux_2_39_x86_64.whl 297.0 kB Oct 1, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.39+ x86-64	Details
marinholab_sas_core-26.9.14-cp312-cp312-manylinux_2_39_aarch64.whl 262.6 kB Oct 1, 2026	CPython 3.12	CPython 3.12	Linux glibc 2.39+ ARM64	Details
marinholab_sas_core-26.9.14-cp312-cp312-macosx_14_0_arm64.whl 171.4 kB Oct 1, 2026	CPython 3.12	CPython 3.12	macOS 14.0+ ARM64	Details
marinholab_sas_core-26.9.14-cp311-cp311-win_amd64.whl 194.8 kB Oct 1, 2026	CPython 3.11	CPython 3.11	Windows x86-64	Details
marinholab_sas_core-26.9.14-cp311-cp311-manylinux_2_39_x86_64.whl 296.5 kB Oct 1, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.39+ x86-64	Details
marinholab_sas_core-26.9.14-cp311-cp311-manylinux_2_39_aarch64.whl 262.7 kB Oct 1, 2026	CPython 3.11	CPython 3.11	Linux glibc 2.39+ ARM64	Details
marinholab_sas_core-26.9.14-cp311-cp311-macosx_14_0_arm64.whl 170.5 kB Oct 1, 2026	CPython 3.11	CPython 3.11	macOS 14.0+ ARM64	Details
marinholab_sas_core-26.9.14-cp310-cp310-win_amd64.whl 192.2 kB Oct 1, 2026	CPython 3.10	CPython 3.10	Windows x86-64	Details
marinholab_sas_core-26.9.14-cp310-cp310-manylinux_2_39_x86_64.whl 295.9 kB Oct 1, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.39+ x86-64	Details
marinholab_sas_core-26.9.14-cp310-cp310-manylinux_2_39_aarch64.whl 262.5 kB Oct 1, 2026	CPython 3.10	CPython 3.10	Linux glibc 2.39+ ARM64	Details
marinholab_sas_core-26.9.14-cp310-cp310-macosx_14_0_arm64.whl 169.5 kB Oct 1, 2026	CPython 3.10	CPython 3.10	macOS 14.0+ ARM64	Details

Total release size: 4.6 MB

Release files / marinholab_sas_core-26.9.14-cp314-cp314-win_amd64.whl

Download URL	marinholab_sas_core-26.9.14-cp314-cp314-win_amd64.whl
Size	203.3 kB
Tags	CPython 3.14 Windows x86-64
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Uploaded via	`twine/7.0.0 CPython/3.13.14`

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Publishing platform: GitHub Actions
Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp314-cp314-manylinux_2_39_x86_64.whl

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Uploaded via	`twine/7.0.0 CPython/3.13.14`

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp313-cp313-win_amd64.whl

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Release files / marinholab_sas_core-26.9.14-cp313-cp313-manylinux_2_39_x86_64.whl

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Publishing platform: GitHub Actions
Publishing repository: github.com/MarinhoLab/sas_py
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Release files / marinholab_sas_core-26.9.14-cp312-cp312-manylinux_2_39_aarch64.whl

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp312-cp312-macosx_14_0_arm64.whl

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp311-cp311-win_amd64.whl

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Identity

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp311-cp311-manylinux_2_39_x86_64.whl

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp311-cp311-manylinux_2_39_aarch64.whl

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Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp311-cp311-macosx_14_0_arm64.whl

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Identity

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp310-cp310-win_amd64.whl

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Identity

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp310-cp310-manylinux_2_39_x86_64.whl

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Identity

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Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp310-cp310-manylinux_2_39_aarch64.whl

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Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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Release files / marinholab_sas_core-26.9.14-cp310-cp310-macosx_14_0_arm64.whl

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Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/7.0.0 CPython/3.13.14`

Provenance

Identity

Publishing platform: GitHub Actions
Publishing repository: github.com/MarinhoLab/sas_py
Publishing commit: github.com/MarinhoLab/sas_py/tree/ca0ce74db27fed26cca1781ad05579ad92a02b70

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