motion-spec-dsl

The textX language for guarded robot motion. A .robmot model composes scene and FSM models with typed context, constraints, monitors, controllers and solvers, and is emitted as JSON-LD.

The language reference and tutorials are part of the motion-spec documentation.

Install

Python >= 3.10. rdf-utils, scene-dsl and coord-dsl are not on PyPI; pyproject.toml pulls them from git.

git clone https://github.com/secorolab/motion-spec-dsl.git && cd motion-spec-dsl
pip install -e .

Check that textX sees the language and parses an example:

textx list-languages
textx check src/motion_spec_dsl/models/01_pick_and_place/pick_and_place.robmot

Generate

Emit a model as JSON-LD: the model graph, its application manifest and a provenance document.

textx generate src/motion_spec_dsl/models/01_pick_and_place/pick_and_place.robmot \
  --target jsonld -o out

This writes out/pick_and_place.ld.json, out/pick_and_place-app.ld.json and out/provenance/dsl.ld.json.