reforge-core 0.0.5

Reforge Core SDK by Reforge Robotics.

Reforge SDK (reforge-core)

Reforge SDK is the independently built Python package that powers Reforge calibration and model-based vibration control.

This README is intended for PyPI distribution of reforge-core.

What This Package Provides

Calibration module (reforge_core.calibration)

The calibration module provides the cloud interface used after a robot calibration run:

• Uploads calibration data artifacts
• Triggers identification or fine-tuning jobs in Reforge Cloud API
• Polls job status and downloads generated model artifacts
• Extracts returned model files for control use

Primary entry point:

• reforge_core.calibration.api.ReforgeAPIManager

Control module (reforge_core.control)

The control module provides vibration-aware command shaping for robot trajectories:

• Loads per-axis model files generated by calibration/identification
• Computes shaping parameters from current robot state
• Shapes single commands or full trajectories
• Returns shaped positions, velocities, and accelerations for execution

Primary entry points:

• reforge_core.control.python.covalent_wrapper.ShaperInterface
• reforge_core.control.python.covalent_wrapper.RobotState

Interface with reforge-interface (src/robot)

Reforge SDK is designed to be consumed by the reforge-interface repository, where robot-specific integration lives.

Expected responsibilities in reforge-interface/src/robot:

• Robot transport and SDK communication loop
• Sensor acquisition (joint encoders, TCP accelerometer)
• Calibration routine execution and local data storage
• Invocation of Reforge SDK calibration + control APIs

Typical artifact flow:

1. src/robot runs calibration and stores local data (for example under src/robot/data/<date>).
2. ReforgeAPIManager uploads the data and requests model generation.
3. Returned model artifacts are saved for runtime control (commonly under src/robot/models/current).
4. ShaperInterface loads those models and the robot URDF to shape outgoing joint commands before they are sent through the robot driver in src/robot.

In this architecture, reforge-interface/src/robot owns robot I/O and execution, while reforge-core owns calibration-cloud orchestration and shaping logic. python_src_root should point at the reforge-interface/src directory so runtime dependencies (for example dynamics utilities and robot assets) can be resolved.

Minimal Usage Sketch

from reforge_core.calibration.api import ReforgeAPIManager
from reforge_core.control.python.covalent_wrapper import ShaperInterface, RobotState

# Calibration/model generation
api = ReforgeAPIManager(reforge_api_token="<token>", robot_id="<robot_id>")
api.run_cloud_model_generation(data_folder="src/robot/data/<YYYY-MM-DD>")

# Runtime shaping
shaper = ShaperInterface(
    sample_time=0.005,
    model_directory="src/robot/models/current",
    python_src_root="src",
    urdf_filepath="src/robot/urdf/<robot>.urdf",
    num_axes=3,
    num_joints=6,
)

state = RobotState(joint_angles=...)  # numpy array
shaped = shaper.shape_sample(..., state)

Installation

pip install reforge-core