sscbirrt 3.0.0__tar.gz

sscbirrt-3.0.0/.github/CODEOWNERS

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+* @siddhss5

sscbirrt-3.0.0/.github/ISSUE_TEMPLATE/bug_report.md

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+---
+name: Bug report
+about: Report a reproducible bug
+labels: bug
+---
+
+## Environment
+- OS:
+- Python version:
+- uv version:
+- Package version or commit:
+
+## Reproduction
+<!-- Minimal steps to reproduce the problem. -->
+
+## Expected behavior
+
+## Actual behavior
+
+## Logs / traceback
+```
+```

sscbirrt-3.0.0/.github/ISSUE_TEMPLATE/config.yml

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+blank_issues_enabled: false
+contact_links:
+  - name: Questions and discussion
+    url: https://github.com/personalrobotics/robot-code/discussions
+    about: Ask questions or discuss design in the umbrella repo.

sscbirrt-3.0.0/.github/ISSUE_TEMPLATE/improvement.md

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+---
+name: Improvement
+about: Propose an enhancement to existing functionality
+labels: enhancement
+---
+
+## Motivation
+<!-- What problem or limitation prompts this improvement? -->
+
+## Proposal
+<!-- What should change, concretely? -->
+
+## Alternatives considered

sscbirrt-3.0.0/.github/ISSUE_TEMPLATE/task.md

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+---
+name: Task
+about: A planned unit of work
+labels: task
+---
+
+## Goal
+
+## Acceptance criteria
+- [ ]
+
+## Notes

sscbirrt-3.0.0/.github/pull_request_template.md

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+## Summary
+
+<!-- One or two sentences describing what this PR does and why. -->
+
+## Changes
+
+<!-- Bulleted list of the concrete changes made. -->
+-
+
+## Testing
+
+- [ ] `uv run pytest tests/ -v` passes
+- [ ] `uv run ruff check .` passes
+- [ ] `uv run ruff format --check .` passes
+- [ ] Integration tested locally against the robot-code workspace (if cross-repo)
+
+## Breaking changes
+
+- [ ] None
+- [ ] Yes (describe migration below):
+
+## Related issues
+
+<!-- e.g. Fixes #123, Part of personalrobotics/robot-code#3 -->

sscbirrt-3.0.0/.github/workflows/ci.yml

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+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+  workflow_dispatch:
+
+concurrency:
+  group: ci-${{ github.ref }}
+  cancel-in-progress: true
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        python-version: ["3.10", "3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Set up uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          enable-cache: true
+          python-version: ${{ matrix.python-version }}
+
+      - name: Install system dependencies
+        run: sudo apt-get update && sudo apt-get install -y libeigen3-dev
+
+      - name: Install dependencies (builds the extension; ssik is a build requirement, so the SSIK adapter is detected)
+        run: |
+          uv sync --all-extras --dev
+          uv run python -c "import sscbirrt._native as n; assert n.has_ssik(), n.ssik_unavailable_reason(); print('native SSIK adapter built')"
+          uv run python -c "from sscbirrt.backends import native_mujoco as m; assert m.available(), m.unavailable_reason(); print('native MuJoCo scene built')"
+
+      - name: Ruff lint
+        run: uv run ruff check .
+
+      - name: Ruff format check
+        run: uv run ruff format --check .
+
+      - name: Pytest
+        run: |
+          if [ -d tests ]; then
+            uv run pytest tests/ -v
+          else
+            echo "No tests/ directory; skipping pytest."
+          fi
+
+  cpp:
+    name: C++ core (sanitizers)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.12"
+      - name: Install Eigen and the ssik headers (for the SSIK adapter under sanitizers)
+        run: |
+          sudo apt-get update && sudo apt-get install -y libeigen3-dev
+          uv venv "$RUNNER_TEMP/ssik-env"
+          uv pip install --python "$RUNNER_TEMP/ssik-env/bin/python" "ssik>=7.0,<8"
+          echo "SSIK_CMAKE_DIR=$("$RUNNER_TEMP/ssik-env/bin/python" -c 'import ssik; print(ssik.get_cmake_dir())')" >> "$GITHUB_ENV"
+          uv pip install --python "$RUNNER_TEMP/ssik-env/bin/python" "mujoco==3.14.0"
+          echo "MUJOCO_DIR=$("$RUNNER_TEMP/ssik-env/bin/python" -c 'import mujoco, os; print(os.path.dirname(mujoco.__file__))')" >> "$GITHUB_ENV"
+      - name: Configure
+        run: cmake -S cpp -B build/cpp -DCMAKE_BUILD_TYPE=Debug -DSSCBIRRT_SANITIZE=ON -DSSCBIRRT_WITH_SSIK=ON -DSSCBIRRT_SSIK_CMAKE_DIR="$SSIK_CMAKE_DIR" -DSSCBIRRT_WITH_MUJOCO=ON -DSSCBIRRT_MUJOCO_DIR="$MUJOCO_DIR"
+      - name: Build
+        run: cmake --build build/cpp --parallel
+      - name: Test
+        run: ctest --test-dir build/cpp --output-on-failure
+
+  cpp-consumer:
+    name: C++ consumer (installed package)
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Install, then build and run the standalone consumer against the installed package
+        run: cpp/examples/consumer/smoke.sh "$RUNNER_TEMP/sscbirrt"
+
+  package:
+    name: Wheel and sdist in clean environments
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.12"
+      - name: Install Eigen (ssik, a build requirement, supplies the ssik_cpp headers to the isolated build)
+        run: sudo apt-get update && sudo apt-get install -y libeigen3-dev
+      - name: Build the wheel and the sdist
+        run: uv build
+      - name: Install the wheel into a fresh environment and plan natively
+        run: |
+          uv venv --python 3.12 "$RUNNER_TEMP/wheel-env"
+          uv pip install --python "$RUNNER_TEMP/wheel-env/bin/python" dist/*.whl
+          "$RUNNER_TEMP/wheel-env/bin/python" -c "
+          import sscbirrt._native as n; assert n.has_ssik(), n.ssik_unavailable_reason()
+          import numpy as np
+          from sscbirrt import CBiRRT, CBiRRTConfig, FiniteSet, PlanningProblem
+          from sscbirrt.testing import NoCollision, PlanarArm, PlanarIK
+          p = CBiRRT(PlanarArm(), PlanarIK(), NoCollision(), CBiRRTConfig(step_size=0.2), backend='native')
+          f = lambda qs: FiniteSet(qs, tolerance=1e-3, metric=p.space.distance)
+          r = p.solve(PlanningProblem(space=p.space, start=f([np.zeros(2)]), goal=f([np.array([1.0, 0.5])]), validator=p.collision), seed=0)
+          assert r.success and r.backend == 'native', r
+          print('wheel ok:', len(r.path), 'waypoints natively')
+          "
+      - name: Without mujoco installed, sscbirrt imports and the MuJoCo scene reports its reason
+        run: |
+          "$RUNNER_TEMP/wheel-env/bin/python" -c "
+          import sscbirrt
+          from sscbirrt.backends import native_mujoco as m
+          assert not m.available() and 'mujoco is not installed' in m.unavailable_reason(), m.unavailable_reason()
+          print('no-mujoco import ok:', m.unavailable_reason())
+          "
+      - name: With the mujoco extra, the native scene loads against the pinned MuJoCo
+        run: |
+          uv pip install --python "$RUNNER_TEMP/wheel-env/bin/python" "$(ls dist/*.whl)[mujoco]"
+          "$RUNNER_TEMP/wheel-env/bin/python" -c "
+          import mujoco
+          from sscbirrt.backends import native_mujoco as m
+          assert m.available(), m.unavailable_reason()
+          model = mujoco.MjModel.from_xml_string('<mujoco><worldbody><body><joint name=\"j\" type=\"hinge\"/><geom size=\"0.1\"/></body></worldbody></mujoco>')
+          s = m.NativeScene.from_model(model, ['j']); print('scene ok:', s.provenance)
+          "
+      - name: Install the sdist into a fresh environment (compiles from source)
+        run: |
+          uv venv --python 3.12 "$RUNNER_TEMP/sdist-env"
+          uv pip install --python "$RUNNER_TEMP/sdist-env/bin/python" dist/*.tar.gz
+          "$RUNNER_TEMP/sdist-env/bin/python" -c "import sscbirrt._native as n; print('sdist ok; ssik adapter:', n.has_ssik())"
+
+  package-macos:
+    name: Wheel on macOS (arm64)
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.12"
+      - name: Install Eigen
+        run: brew install eigen
+      - name: Build the wheel (ssik and mujoco are build requirements; both native adapters must be present)
+        run: uv build --wheel
+      - name: Install into a fresh environment with every extra and exercise every native module
+        run: |
+          uv venv --python 3.12 "$RUNNER_TEMP/mac-env"
+          uv pip install --python "$RUNNER_TEMP/mac-env/bin/python" "$(ls dist/*.whl)[ssik,mujoco]"
+          "$RUNNER_TEMP/mac-env/bin/python" -c "
+          import mujoco, numpy as np
+          import sscbirrt._native as n; assert n.has_ssik(), n.ssik_unavailable_reason()
+          from sscbirrt.backends import native_mujoco as m; assert m.available(), m.unavailable_reason()
+          model = mujoco.MjModel.from_xml_string('<mujoco><worldbody><body><joint name=\"j\" type=\"hinge\"/><geom size=\"0.1\"/></body></worldbody></mujoco>')
+          s = m.NativeScene.from_model(model, ['j']); print('macOS wheel: ssik and mujoco native modules ok', s.provenance['mujoco'])
+          "
+          "$RUNNER_TEMP/mac-env/bin/python" tools/reference_artifact.py --backend native --check
+          "$RUNNER_TEMP/mac-env/bin/python" tools/reference_artifact.py --backend auto --check
+
+  notify-robot-code:
+    needs: [test, cpp, cpp-consumer, package, package-macos]
+    if: github.event_name == 'push' && github.ref == 'refs/heads/main'
+    runs-on: ubuntu-latest
+    steps:
+      - name: Dispatch integration run
+        uses: peter-evans/repository-dispatch@v3
+        with:
+          token: ${{ secrets.ROBOT_CODE_DISPATCH_TOKEN }}
+          repository: personalrobotics/robot-code
+          event-type: sibling-updated
+          client-payload: '{"repo":"${{ github.event.repository.name }}","sha":"${{ github.sha }}"}'

sscbirrt-3.0.0/.github/workflows/release.yml

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+name: Release
+
+# Tag-driven release pipeline (#153), on the ssik pattern.
+#
+#   v*rc*              build wheels + sdist, publish to TestPyPI (the dry run; the artifacts may carry the
+#                      final version the tag rehearses, e.g. v3.0.0rc1 on the commit whose version is 3.0.0)
+#   v*                 build wheels + sdist, publish to PyPI, create the GitHub release from the CHANGELOG
+#   workflow_dispatch  build wheels + sdist only; publishes to TestPyPI only with publish_testpypi=true
+#
+# Auth: Trusted Publishing (PyPI / TestPyPI OIDC). No API tokens. The publish jobs run inside the GitHub
+# environments `release` and `testpypi-release` so environment-protection rules apply.
+#
+# The wheel matrix and the repair rules live in pyproject.toml under [tool.cibuildwheel]: CPython 3.10 to
+# 3.14 on manylinux_2_28 x86_64 and macOS arm64, libmujoco excluded from bundling, every wheel installed
+# with [mujoco,ssik] and run through the reference artifact check before it is kept.
+
+on:
+  push:
+    tags: ["v*"]
+  workflow_dispatch:
+    inputs:
+      publish_testpypi:
+        description: "Also publish the built artifacts to TestPyPI"
+        type: boolean
+        default: false
+
+permissions:
+  contents: read
+
+jobs:
+  build_wheels:
+    name: Wheels on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Build and test wheels
+        uses: pypa/cibuildwheel@v3.4.1
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: wheelhouse/*.whl
+
+  build_sdist:
+    name: Source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.12"
+      - name: Build the sdist
+        run: uv build --sdist
+      - name: The sdist compiles on a machine with no Eigen (the build downloads the pinned one)
+        run: |
+          uv venv --python 3.12 "$RUNNER_TEMP/sdist-env"
+          uv pip install --python "$RUNNER_TEMP/sdist-env/bin/python" dist/*.tar.gz
+          "$RUNNER_TEMP/sdist-env/bin/python" -c "import sscbirrt._native as n; assert n.has_ssik(), n.ssik_unavailable_reason(); print('sdist ok; SSIK adapter built against the downloaded Eigen')"
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  publish_testpypi:
+    name: Publish to TestPyPI
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    if: >-
+      (startsWith(github.ref, 'refs/tags/v') && contains(github.ref, 'rc')) ||
+      (github.event_name == 'workflow_dispatch' && inputs.publish_testpypi)
+    environment:
+      name: testpypi-release
+      url: https://test.pypi.org/p/sscbirrt
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - name: Every artifact carries the tag's version (an rc tag may carry the final version it rehearses)
+        if: startsWith(github.ref, 'refs/tags/v')
+        run: |
+          TAG="${GITHUB_REF#refs/tags/v}"; BASE="${TAG%%rc*}"; ls -1 dist/
+          for f in dist/*; do
+            case "$(basename "$f")" in
+              sscbirrt-"$TAG".tar.gz|sscbirrt-"$TAG"-*.whl|sscbirrt-"$BASE".tar.gz|sscbirrt-"$BASE"-*.whl) ;;
+              *) echo "::error::$(basename "$f") is neither version $TAG nor $BASE (pyproject version and tag must agree)"; exit 1 ;;
+            esac
+          done
+          echo "OK: all artifacts are version $TAG or $BASE"
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+
+  publish_pypi:
+    name: Publish to PyPI
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'rc')
+    environment:
+      name: release
+      url: https://pypi.org/p/sscbirrt
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          path: dist
+          merge-multiple: true
+      - name: Every artifact carries the tag's version
+        run: |
+          TAG="${GITHUB_REF#refs/tags/v}"; ls -1 dist/
+          for f in dist/*; do
+            case "$(basename "$f")" in
+              sscbirrt-"$TAG".tar.gz|sscbirrt-"$TAG"-*.whl) ;;
+              *) echo "::error::$(basename "$f") is not version $TAG (pyproject version and tag must agree)"; exit 1 ;;
+            esac
+          done
+          echo "OK: all artifacts are version $TAG"
+      - uses: pypa/gh-action-pypi-publish@release/v1
+
+  github_release:
+    name: GitHub release from the CHANGELOG
+    needs: publish_pypi
+    runs-on: ubuntu-latest
+    if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'rc')
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/checkout@v4
+      - name: Extract this version's CHANGELOG section
+        run: |
+          TAG="${GITHUB_REF#refs/tags/v}"
+          python3 - "$TAG" <<'PY' > notes.md
+          import re, sys, pathlib
+          tag = sys.argv[1]
+          text = pathlib.Path("CHANGELOG.md").read_text()
+          m = re.search(rf"^## \[{re.escape(tag)}\][^\n]*\n(.*?)(?=^## \[|\Z)", text, re.S | re.M)
+          if not m:
+              sys.exit(f"CHANGELOG.md has no section for {tag}")
+          print(m.group(1).strip())
+          PY
+          test -s notes.md
+      - uses: softprops/action-gh-release@v2
+        with:
+          tag_name: ${{ github.ref_name }}
+          name: ${{ github.ref_name }}
+          body_path: notes.md

sscbirrt-3.0.0/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# Distribution / packaging
+dist/
+build/
+*.egg-info/
+*.egg
+
+# Virtual environments
+venv/
+.venv/
+env/
+
+# IDE
+.idea/
+.vscode/
+*.swp
+*.swo
+
+# Testing
+.pytest_cache/
+.coverage
+htmlcov/
+
+# OS
+.DS_Store
+Thumbs.db
+
+# Generated files
+*.png
+!docs/images/*.png
+
+# MuJoCo writes this next to the process when it warns
+MUJOCO_LOG.TXT