copp-py 0.2.1__tar.gz

copp_py-0.2.1/.cargo/config.toml

@@ -0,0 +1,7 @@
+# .cargo/config.toml
+[build]
+rustdocflags = ["--html-in-header", "mathjax-config.html"]
+rustflags = ["-C", "target-cpu=native"]
+
+[doc]
+rustdocflags = ["--html-in-header", "mathjax-config.html"]

copp_py-0.2.1/.gitattributes

@@ -0,0 +1,37 @@
+* text=auto eol=lf
+
+# Keep Windows command scripts in their native line ending.
+*.bat text eol=crlf
+*.cmd text eol=crlf
+
+# Binary assets and archives should never be line-ending normalized.
+*.7z binary
+*.a binary
+*.avi binary
+*.bin binary
+*.bmp binary
+*.dll binary
+*.doc binary
+*.docx binary
+*.dylib binary
+*.exe binary
+*.gif binary
+*.gz binary
+*.ico binary
+*.jpeg binary
+*.jpg binary
+*.lib binary
+*.mat binary
+*.mov binary
+*.mp4 binary
+*.npy binary
+*.npz binary
+*.pdf binary
+*.png binary
+*.ppt binary
+*.pptx binary
+*.so binary
+*.tar binary
+*.xls binary
+*.xlsx binary
+*.zip binary

copp_py-0.2.1/.github/workflows/c-abi.yml

@@ -0,0 +1,248 @@
+name: C ABI
+
+on:
+  push:
+    branches:
+      - "**"
+    tags:
+      - "v*"
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: c-abi-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  CARGO_TERM_COLOR: always
+  RUSTFLAGS: "-C target-cpu=generic"
+
+jobs:
+  build-package:
+    name: ${{ matrix.platform }} / ${{ matrix.link }}
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-24.04
+            platform: linux-x86_64-gnu
+            link: dynamic
+            static_flag: OFF
+          - os: ubuntu-24.04
+            platform: linux-x86_64-gnu
+            link: static
+            static_flag: ON
+          - os: windows-2022
+            platform: windows-x86_64-msvc
+            link: dynamic
+            static_flag: OFF
+          - os: windows-2022
+            platform: windows-x86_64-msvc
+            link: static
+            static_flag: ON
+          - os: macos-15
+            platform: macos-aarch64
+            link: dynamic
+            static_flag: OFF
+          - os: macos-15
+            platform: macos-aarch64
+            link: static
+            static_flag: ON
+          - os: macos-15-intel
+            platform: macos-x86_64
+            link: dynamic
+            static_flag: OFF
+          - os: macos-15-intel
+            platform: macos-x86_64
+            link: static
+            static_flag: ON
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Prepare package metadata
+        shell: pwsh
+        run: |
+          $refName = "${{ github.ref_name }}"
+          if ("${{ github.event_name }}" -eq "pull_request") {
+            $refName = "pr-${{ github.event.pull_request.number }}"
+          }
+          $safeRefName = $refName -replace '[^A-Za-z0-9._-]', '-'
+          "COPP_PACKAGE_NAME=copp-c-$safeRefName-${{ matrix.platform }}-${{ matrix.link }}" >> $env:GITHUB_ENV
+
+      - name: Install Rust
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Install Linux system dependencies
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y pkg-config libfontconfig1-dev
+
+      - name: Cache Cargo
+        uses: Swatinem/rust-cache@v2
+        with:
+          key: c-abi-${{ matrix.platform }}-${{ matrix.link }}
+
+      - name: Install cbindgen
+        run: cargo install cbindgen
+
+      - name: Build Rust native library
+        run: cargo build --release --lib --features c
+
+      - name: Install nightly Rust for cbindgen expand
+        run: rustup toolchain install nightly --profile minimal
+
+      - name: Generate C headers
+        shell: pwsh
+        env:
+          RUSTUP_TOOLCHAIN: nightly
+        run: ./bindings/c/scripts/generate_headers.ps1
+
+      - name: Check generated C headers are committed
+        shell: pwsh
+        run: |
+          $changes = git status --porcelain -- bindings/c/include/copp
+          if ($changes) {
+            git diff -- bindings/c/include/copp
+            $changes
+            exit 1
+          }
+
+      - name: Configure C tests and examples
+        shell: pwsh
+        run: |
+          cmake -S bindings/c -B bindings/c/build-c-abi `
+            -DCMAKE_BUILD_TYPE=Release `
+            -DCOPP_LINK_STATIC=${{ matrix.static_flag }} `
+            -DCOPP_BUILD_TESTS=ON `
+            -DCOPP_BUILD_EXAMPLES=ON `
+            -DCOPP_TEST_EXAMPLES=ON `
+            -DCOPP_BUILD_INSTALL_TESTS=ON
+
+      - name: Build C tests and examples
+        run: cmake --build bindings/c/build-c-abi --config Release --parallel
+
+      - name: Run C tests, examples, and install smoke tests
+        run: ctest --test-dir bindings/c/build-c-abi --output-on-failure -C Release
+
+      - name: Install C SDK package
+        shell: pwsh
+        run: |
+          $prefix = Join-Path "dist" $env:COPP_PACKAGE_NAME
+          cmake --install bindings/c/build-c-abi --config Release --prefix $prefix
+
+          Copy-Item README.md (Join-Path $prefix "README.md")
+          Copy-Item CHANGELOG.md (Join-Path $prefix "CHANGELOG.md")
+          Copy-Item bindings/c/README.md (Join-Path $prefix "C-README.md")
+          Copy-Item bindings/c/examples (Join-Path $prefix "examples") -Recurse
+
+          $license = Get-ChildItem -Path . -File |
+            Where-Object { $_.Name -match '^(LICENSE|COPYING)(\..*)?$' } |
+            Select-Object -First 1
+          if ($license) {
+            Copy-Item $license.FullName (Join-Path $prefix $license.Name)
+          }
+
+      - name: Archive C SDK package
+        shell: pwsh
+        run: |
+          New-Item -ItemType Directory -Force release-artifacts | Out-Null
+          $archive = Join-Path "release-artifacts" "$env:COPP_PACKAGE_NAME.zip"
+
+          Push-Location dist
+          cmake -E tar cfv "../$archive" --format=zip $env:COPP_PACKAGE_NAME
+          Pop-Location
+
+          $hash = Get-FileHash $archive -Algorithm SHA256
+          "$($hash.Hash.ToLower())  $(Split-Path $archive -Leaf)" |
+            Set-Content -Path "$archive.sha256" -NoNewline
+
+      - name: Smoke test archived package
+        shell: pwsh
+        run: |
+          $archive = Join-Path "release-artifacts" "$env:COPP_PACKAGE_NAME.zip"
+          $extractRoot = Join-Path "release-smoke" "extract"
+          $buildDir = Join-Path "release-smoke" "build"
+
+          New-Item -ItemType Directory -Force $extractRoot | Out-Null
+          Push-Location $extractRoot
+          cmake -E tar xf "../../$archive"
+          Pop-Location
+
+          $prefix = Resolve-Path (Join-Path $extractRoot $env:COPP_PACKAGE_NAME)
+          cmake -S bindings/c/tests/package_consumer -B $buildDir `
+            -DCMAKE_PREFIX_PATH="$prefix" `
+            -DCMAKE_BUILD_TYPE=Release
+          cmake --build $buildDir --config Release --parallel
+          ctest --test-dir $buildDir --output-on-failure -C Release
+
+      - name: Upload release package artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: ${{ env.COPP_PACKAGE_NAME }}
+          path: |
+            release-artifacts/${{ env.COPP_PACKAGE_NAME }}.zip
+            release-artifacts/${{ env.COPP_PACKAGE_NAME }}.zip.sha256
+          if-no-files-found: error
+
+  publish-draft:
+    name: Create Draft GitHub Release
+    needs: build-package
+    if: startsWith(github.ref, 'refs/tags/v')
+    runs-on: ubuntu-24.04
+    permissions:
+      contents: write
+
+    steps:
+      - name: Download release package artifacts
+        uses: actions/download-artifact@v4
+        with:
+          path: release-assets
+
+      - name: Create or update draft GitHub Release
+        shell: pwsh
+        env:
+          GH_TOKEN: ${{ github.token }}
+          GH_REPO: ${{ github.repository }}
+          RELEASE_TAG: ${{ github.ref_name }}
+        run: |
+          $assetPaths = @(
+            Get-ChildItem release-assets -Recurse -File |
+              Where-Object { $_.Name -like "*.zip" -or $_.Name -like "*.zip.sha256" } |
+              Sort-Object Name |
+              ForEach-Object { $_.FullName }
+          )
+          if ($assetPaths.Count -eq 0) {
+            throw "No release assets were downloaded."
+          }
+
+          $notesFile = "release-notes.md"
+          @'
+          Prebuilt C ABI SDK packages are attached below.
+
+          Each package contains the generated C headers, the Release native library, examples, and the CMake package files needed for `find_package(copp CONFIG REQUIRED)`.
+
+          See CHANGELOG.md in this tag for API changes and breaking changes.
+          '@ | Set-Content -Path $notesFile -NoNewline
+
+          gh release view $env:RELEASE_TAG *> $null
+          if ($LASTEXITCODE -eq 0) {
+            & gh release upload $env:RELEASE_TAG @assetPaths --clobber
+            & gh release edit $env:RELEASE_TAG `
+              --draft `
+              --title $env:RELEASE_TAG `
+              --notes-file $notesFile
+          } else {
+            & gh release create $env:RELEASE_TAG @assetPaths `
+              --draft `
+              --verify-tag `
+              --title $env:RELEASE_TAG `
+              --notes-file $notesFile
+          }

copp_py-0.2.1/.github/workflows/python-wheels.yml

@@ -0,0 +1,186 @@
+name: Python Wheels
+
+on:
+  push:
+    branches: ["**"]
+    tags: ["v*"]
+    paths:
+      - "bindings/python/**"
+      - "src/**"
+      - "Cargo.toml"
+      - "Cargo.lock"
+      - "pyproject.toml"
+      - ".github/workflows/python-wheels.yml"
+  pull_request:
+    paths:
+      - "bindings/python/**"
+      - "src/**"
+      - "Cargo.toml"
+      - "Cargo.lock"
+      - "pyproject.toml"
+      - ".github/workflows/python-wheels.yml"
+  release:
+    types: [published]
+  workflow_dispatch:
+    inputs:
+      publish_testpypi:
+        description: "Publish built wheels and sdist to TestPyPI"
+        required: false
+        default: false
+        type: boolean
+
+env:
+  RUSTFLAGS: "-C target-cpu=generic"
+
+jobs:
+  build:
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - os: ubuntu-latest
+            target: x86_64
+            artifact: wheel-ubuntu-latest-x86_64
+            interpreter_args: -i python3.10 -i python3.11 -i python3.12 -i python3.13 -i python3.14
+          - os: ubuntu-latest
+            target: aarch64
+            artifact: wheel-ubuntu-latest-aarch64
+            interpreter_args: -i python3.10 -i python3.11 -i python3.12 -i python3.13 -i python3.14
+          - os: macos-15-intel
+            target: x86_64
+            artifact: wheel-macos-15-intel-x86_64
+            interpreter_args: -i python
+          - os: macos-14
+            target: aarch64
+            artifact: wheel-macos-14-aarch64
+            interpreter_args: -i python
+          - os: windows-latest
+            target: x86_64
+            artifact: wheel-windows-latest-x86_64
+            interpreter_args: -i python
+    runs-on: ${{ matrix.os }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        if: runner.os != 'Linux'
+        with:
+          python-version: "3.10"
+          allow-prereleases: true
+      - uses: PyO3/maturin-action@v1
+        with:
+          target: ${{ matrix.target }}
+          args: --release --out dist ${{ matrix.interpreter_args }}
+          manylinux: auto
+      - uses: actions/upload-artifact@v4
+        with:
+          name: ${{ matrix.artifact }}
+          path: dist/*.whl
+
+  sdist:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: PyO3/maturin-action@v1
+        with:
+          command: sdist
+          args: --out dist
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  test:
+    needs: [build]
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          allow-prereleases: true
+      - uses: actions/download-artifact@v4
+        with:
+          name: wheel-ubuntu-latest-x86_64
+          path: dist
+      - env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: 1
+        run: |
+          python -m pip install numpy pytest
+          python -m pip install --no-index --find-links dist copp-py
+          python -m pytest bindings/python/tests/ -v
+
+  smoke-test:
+    needs: [build]
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - runner: ubuntu-latest
+            artifact: wheel-ubuntu-latest-x86_64
+          - runner: ubuntu-24.04-arm
+            artifact: wheel-ubuntu-latest-aarch64
+          - runner: macos-15-intel
+            artifact: wheel-macos-15-intel-x86_64
+          - runner: macos-14
+            artifact: wheel-macos-14-aarch64
+          - runner: windows-latest
+            artifact: wheel-windows-latest-x86_64
+    runs-on: ${{ matrix.runner }}
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+          allow-prereleases: true
+      - uses: actions/download-artifact@v4
+        with:
+          name: ${{ matrix.artifact }}
+          path: dist
+      - env:
+          PYTEST_DISABLE_PLUGIN_AUTOLOAD: 1
+        run: |
+          python -m pip install numpy pytest
+          python -m pip install --no-index --find-links dist copp-py
+          python -m pytest bindings/python/tests/ -v
+
+  publish-testpypi:
+    name: Publish to TestPyPI
+    needs: [sdist, test, smoke-test]
+    if: (github.event_name == 'workflow_dispatch' && inputs.publish_testpypi) || (github.event_name == 'push' && startsWith(github.ref, 'refs/tags/v'))
+    runs-on: ubuntu-latest
+    environment: testpypi
+    permissions:
+      contents: read
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+          packages-dir: dist
+          skip-existing: true
+
+  publish-pypi:
+    name: Publish to PyPI
+    needs: [sdist, test, smoke-test]
+    if: github.event_name == 'release' && startsWith(github.event.release.tag_name, 'v')
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      contents: read
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          packages-dir: dist

copp_py-0.2.1/.github/workflows/rust.yml

@@ -0,0 +1,54 @@
+name: Rust
+
+on:
+  push:
+  pull_request:
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+concurrency:
+  group: rust-${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
+env:
+  CARGO_TERM_COLOR: always
+  RUSTFLAGS: "-C target-cpu=generic"
+
+jobs:
+  test:
+    name: ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+
+    strategy:
+      fail-fast: false
+      matrix:
+        os:
+          - ubuntu-latest
+          - windows-latest
+          - macos-latest
+
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - name: Install Rust
+        uses: dtolnay/rust-toolchain@stable
+
+      - name: Install Linux system dependencies
+        if: runner.os == 'Linux'
+        run: |
+          sudo apt-get update
+          sudo apt-get install -y pkg-config libfontconfig1-dev
+
+      - name: Cache Cargo
+        uses: Swatinem/rust-cache@v2
+        with:
+          key: rust-${{ matrix.os }}
+
+      - name: Run Rust tests
+        run: cargo test --release --all-targets
+
+      - name: Run Rust doc tests
+        run: cargo test --release --doc

copp_py-0.2.1/.gitignore

@@ -0,0 +1,28 @@
+# Rust
+/target
+/data
+/.vscode
+
+# C
+/bindings/**/build/
+/bindings/**/build-*/
+/bindings/c/docs/
+
+# Python
+__pycache__/
+*.py[cod]
+*$py.class
+.pytest_cache/
+.ruff_cache/
+.mypy_cache/
+.pyright/
+.coverage
+coverage.xml
+htmlcov/
+*.egg-info/
+*.dist-info/
+*.whl
+*.pdb
+pip-wheel-metadata/
+/site/
+/bindings/python/docs/build/

copp_py-0.2.1/CHANGELOG.md

@@ -0,0 +1,38 @@
+# Changelog
+
+All notable changes to this project are documented in this file.
+
+This changelog follows [Keep a Changelog](https://keepachangelog.com/en/1.1.0/) and uses [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [0.2.1]
+
+### Added
+
+- [Rust] Made `Constraints::new`, `Constraints::with_capacity`, `Constraints::with_s`, and `Constraints::with_q` public for advanced low-level constraint construction.
+- [Rust] Added documentation examples for direct constraint construction, problem builders, custom path/robot integration, custom objective/sampler interfaces, and Clarabel expert status handling.
+- [Python] Added the initial Python API surface, including path and robot bindings, problem/options/result types, and solver entry points.
+- [c] Added a Cargo `c` feature for the C ABI; source builds now use `cargo build --release --lib --features c` when producing C libraries.
+
+## [0.2.0]
+
+### Breaking Changes
+
+- [Rust] Changed the `RobotTorque::inverse_dynamics` contract to return `Result<(), RobotDynamicsError>`, allowing robot models to report inverse-dynamics failures with user-facing error messages.
+- [Rust] Wrapped third-order trajectory results in dedicated profile types (`Topp3Profile` in Rust and `CoppProfile3rd` in the C API), replacing parts of the previous public API.
+
+### Added
+
+- [Rust] Added dry-friction support to inverse-dynamics evaluation through `RobotTorque`. The current model supports biased Coulomb friction; viscous friction is not supported.
+- [Rust] Added `Path::from_evaluator` as a compatibility constructor for third-order path evaluators.
+- [C] Added the initial C API surface, including core types, path and robot bindings, formulation helpers, solver entry points, generated headers, and C integration tests.
+
+### Changed
+
+- [Rust] Changed `ClarabelOptionsBuilder` defaults to accept Clarabel `AlmostSolved` status by default, aligning the Rust solver policy with the intended production-friendly default.
+- [Rust] Made the `Robot::with_*` and `Constraints::with_*` builder APIs chainable.
+
+## [0.1.0] - Initial Release
+
+### Added
+
+- [Rust] Initial Rust implementation of convex-objective path parameterization primitives and solvers.