sstsr 2.0.0__tar.gz

sstsr-2.0.0/.github/CODEOWNERS

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+* @siddhss5

sstsr-2.0.0/.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
+```
+```

sstsr-2.0.0/.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.

sstsr-2.0.0/.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

sstsr-2.0.0/.github/ISSUE_TEMPLATE/task.md

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

sstsr-2.0.0/.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 -->

sstsr-2.0.0/.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", "3.13", "3.14"]
+    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 dependencies
+        run: uv sync --all-extras --dev
+
+      - name: Ruff lint
+        run: uv run ruff check .
+
+      - name: Ruff format check
+        run: uv run ruff format --check .
+
+      - name: Pytest
+        run: uv run pytest tests/ -v
+
+  notify-robot-code:
+    needs: test
+    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 }}"}'

sstsr-2.0.0/.github/workflows/release.yml

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+name: Release
+
+# Tag-driven release pipeline.
+#
+# Tag patterns:
+#   v*rc*    -> build sdist + wheel, publish to TestPyPI (dry run)
+#   v*       -> build sdist + wheel, publish to real PyPI + GitHub Release
+#   (manual workflow_dispatch also builds + publishes to TestPyPI)
+#
+# Auth: Trusted Publishing (PyPI / TestPyPI OIDC). No API tokens in CI.
+# The publish jobs run inside named GitHub environments (`release` /
+# `testpypi-release`) so the org's environment-protection rules apply.
+#
+# sstsr is pure Python, so a single `uv build` produces both artifacts.
+
+on:
+  push:
+    tags: ["v*"]
+  workflow_dispatch:
+
+permissions:
+  contents: read
+
+jobs:
+  build:
+    name: Build sdist + wheel
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+
+      - name: Set up uv
+        uses: astral-sh/setup-uv@v5
+
+      - name: Build
+        run: uv build
+
+      - name: Check metadata
+        run: uvx twine check dist/*
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/*
+
+  publish_testpypi:
+    name: Publish → TestPyPI
+    needs: build
+    runs-on: ubuntu-latest
+    # RC tags (e.g. v2.0.0rc1) and manual triggers. The real PyPI job runs on
+    # non-RC v* tags only.
+    if: contains(github.ref, 'rc') || github.event_name == 'workflow_dispatch'
+    environment:
+      name: testpypi-release
+      url: https://test.pypi.org/p/sstsr
+    permissions:
+      id-token: write  # Trusted Publishing OIDC
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist
+
+      - name: Publish to TestPyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          repository-url: https://test.pypi.org/legacy/
+
+  publish_pypi:
+    name: Publish → PyPI
+    needs: build
+    runs-on: ubuntu-latest
+    # Real PyPI: only on v* tags that DON'T contain 'rc' (e.g. v2.0.0).
+    if: startsWith(github.ref, 'refs/tags/v') && !contains(github.ref, 'rc')
+    environment:
+      name: release
+      url: https://pypi.org/p/sstsr
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist
+
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+
+  github_release:
+    name: Create GitHub Release
+    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
+        with:
+          fetch-depth: 0
+
+      - name: Create Release
+        uses: softprops/action-gh-release@v2
+        with:
+          tag_name: ${{ github.ref_name }}
+          name: sstsr ${{ github.ref_name }}
+          generate_release_notes: true
+          draft: false
+          prerelease: false

sstsr-2.0.0/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be added to the global gitignore or merged into this project gitignore.  For a PyCharm
+#  project, it is recommended to include the following files in version control:
+#  - .idea/modules.xml
+#  - .idea/*.iml
+#  - .idea/misc.xml
+#  - .idea/vcs.xml
+#  - .idea/workspace.xml
+#  - .idea/tasks.xml
+#  - .idea/usage.statistics.xml
+#  - .idea/shelf
+#  - .idea/dictionaries
+#  - .idea/inspectionProfiles
+#  - .idea/libraries
+#  - .idea/runConfigurations
+#  - .idea/scopes
+#  - .idea/tools
+#  - .idea/uiDesigner.xml
+#  - .idea/artifacts
+#  - .idea/compiler.xml
+#  - .idea/libraries with .xml
+#  - .idea/jarRepositories.xml
+#  - .idea/encodings.xml
+#  - .idea/misc.xml
+#  - .idea/modules.xml
+#  - .idea/*.iml
+#  - .idea/modules
+#  - *.iml
+#  - *.ipr
+.idea/
+
+# VS Code
+.vscode/
+
+# macOS
+.DS_Store
+.AppleDouble
+.LSOverride
+
+# Windows
+Thumbs.db
+ehthumbs.db
+Desktop.ini
+
+# Linux
+*~
+
+# ROS specific (if any remnants)
+*.launch
+*.urdf
+*.sdf
+*.world
+
+# Temporary files
+*.tmp
+*.temp
+*.swp
+*.swo
+*~
+
+# uv specific
+.uv/

sstsr-2.0.0/CHANGELOG.md

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+# Changelog
+
+All notable changes to this project are documented here. The format follows
+[Keep a Changelog](https://keepachangelog.com/en/1.1.0/), and this project
+adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [2.0.0] — 2026-09
+
+First PyPI release. The distribution is named **`sstsr`** (the name `tsr` was
+already taken); the import name is unchanged — `import tsr`.
+
+### Packaging & licensing
+- **Distribution renamed to `sstsr`.** `pip install sstsr`, then `import tsr`.
+- **Relicensed to BSD-2-Clause**, matching the original PrPy/OpenRAVE-derived TSR
+  core (resolves the prior README-vs-LICENSE mismatch).
+- Grasp/hand classes (`ParallelJawGripper`, `Robotiq2F85`, `Robotiq2F140`,
+  `FrankaHand`) are now exported at the top level alongside `StablePlacer`.
+- `tsr.__version__` is now available.
+- Tested on Python 3.10–3.14 (classifiers and CI matrix extended to 3.13 and 3.14).
+
+### Breaking changes
+- **`TablePlacer` removed** — use `tsr.placement.StablePlacer`.
+- **`TSRChain.contains()` uses AND semantics** — a transform must satisfy all
+  TSRs in the chain simultaneously (was OR).
+- **Grasp factories return `[]` for infeasible geometry instead of raising.**
+  `grasp_cylinder_*` and `grasp_sphere` previously raised `ValueError` when the
+  object exceeded the aperture; they now return `[]`, consistent with the box and
+  torus factories. Exceptions are reserved for invalid *arguments* (non-positive
+  sizes, `k < 1`, reversed `angle_range`). See `docs/ARCHITECTURE.md`.
+- **Gripper geometry corrections** (change sampled poses for existing callers):
+  `Robotiq2F140` frame correction and `finger_length`; `FrankaHand.finger_length`
+  corrected to 54 mm; clearance is now scaled by graspable depth, not
+  `finger_length`.
+
+### Fixed
+- **RPY near gimbal lock** (`rot_to_rpy`, `rot_within_rpy_bounds`): the
+  singularity threshold was far too wide (`1e-3`), snapping pitch to ±90° up to
+  ~2.5° early and discarding up to 0.04 rad of rotation. This made `contains()`
+  reject poses that `sample()` produced. Tightened to a true-singularity
+  threshold; round-trip error dropped from ~0.04 to ~1e-13.
+- **`StablePlacer.place_mesh` seating**: objects whose center of mass is not at
+  the object-frame origin floated above or sank through the table. The resting
+  face now sits at `z = 0` for any COM.
+- **`wrap_to_interval`** now guarantees a result in `[lower, lower + 2π)` (a
+  floating-point modulo artifact could return exactly `lower + 2π`).
+- **`TSRChain.distance`** no longer crashes on outer (wrapping) rotation
+  intervals, and a single-TSR chain's `contains()` uses the exact closed-form
+  check instead of the optimiser.
+- Degenerate meshes (fewer than 4 points, coplanar) raise a clear `ValueError`
+  instead of a raw SciPy `QhullError`.
+- `grasp_*(k=0)` raises `ValueError` instead of `IndexError`; reversed
+  `angle_range` raises instead of silently collapsing yaw freedom.
+
+### Internal
+- The pure-math core (`TSR`, `TSRChain`, SE(3) helpers) moved to a `tsr.core`
+  subpackage; deep imports such as `from tsr.tsr import TSR` still work via
+  back-compat shims.
+- Added property-based tests (`hypothesis`) covering the core consistency
+  contract, serialization round-trips, and the factory invariants; added an
+  architecture-enforcement test (`tsr.core` has no upward imports; `import tsr`
+  pulls no heavy viz dependencies).
+- Added `docs/REVIEW.md` (pre-release review) and `docs/ARCHITECTURE.md`.
+- Removed the dead top-level `templates/` duplicate and the vestigial
+  `MANIFEST.in` (hatchling bundles the packaged `tsr/templates/` automatically).
+
+[2.0.0]: https://github.com/personalrobotics/tsr/releases/tag/v2.0.0

sstsr-2.0.0/CODE_OF_CONDUCT.md

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+# Code of Conduct
+
+This project adopts the [Contributor Covenant, version 2.1][cc].
+
+The full text is available at <https://www.contributor-covenant.org/version/2/1/code_of_conduct/>.
+
+## Reporting
+
+Instances of unacceptable behavior may be reported privately to the project
+maintainer at **siddhartha.srinivasa@gmail.com**. All reports will be
+reviewed and investigated promptly and fairly.
+
+[cc]: https://www.contributor-covenant.org/version/2/1/code_of_conduct/

sstsr-2.0.0/CONTRIBUTING.md

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+# Contributing
+
+This repository is part of the [robot-code workspace](https://github.com/personalrobotics/robot-code).
+All projects in the workspace share a common layout (`src/` + `tests/`), a single
+package manager (`uv`), and a common CI setup.
+
+## Development setup
+
+```bash
+git clone https://github.com/personalrobotics/robot-code
+cd robot-code
+./setup.sh
+```
+
+This clones every sibling repo (including this one) into a single uv workspace
+and runs `uv sync`. You can then work in any sibling's directory.
+
+## Running tests and linters
+
+From inside this repo:
+
+```bash
+uv run pytest tests/ -v
+uv run ruff check .
+uv run ruff format --check .
+```
+
+From the workspace root, you can also run the cross-repo integration suite:
+
+```bash
+uv run pytest tests/integration -v
+```
+
+## Pull requests
+
+- Branch from `main`. Open a PR with a clear summary and test plan.
+- Per-repo CI (ruff + pytest) must pass.
+- Cross-repo integration CI in robot-code runs automatically when this repo's
+  `main` advances, and on scheduled nightly runs.
+- Review is by [@siddhss5](https://github.com/siddhss5) (enforced via CODEOWNERS).
+
+## Package manager: uv only
+
+We use [uv](https://docs.astral.sh/uv/) exclusively. **Do not use pip.**
+The workspace layout in robot-code relies on uv's workspace resolution.
+
+## License
+
+By contributing, you agree that your contributions will be licensed under the
+MIT License (see [LICENSE](LICENSE)).

sstsr-2.0.0/CONTRIBUTORS.md

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+# Contributors
+
+This project builds on earlier work by the robotics community. We acknowledge
+the following original authors and contributors:
+
+- **Dmitry Berenson**, **Siddhartha Srinivasa**, **James Kuffner** — original
+  TSR formulation, [IJRR 2011](https://www.ri.cmu.edu/pub_files/2011/10/dmitry_ijrr10-1.pdf).
+- **Michael Koval** (Carnegie Mellon University, 2013) — early Python TSR
+  implementation that seeded this package.
+
+Please submit pull requests to be added to this list.

sstsr-2.0.0/LICENSE

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+BSD 2-Clause License
+
+Copyright (c) 2025, Siddhartha Srinivasa and contributors to TSR
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.