feat: Complete simulator-agnostic TSR library overhaul with template generators

.github/workflows/ci.yml

@@ -0,0 +1,138 @@
+name: CI
+
+on:
+  push:
+    branches: [ master, main ]
+  pull_request:
+    branches: [ master, main ]
+
+jobs:
+  test:
+    name: Python ${{ matrix.python-version }} on ${{ matrix.os }}
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, macos-latest, windows-latest]
+        python-version: ["3.8", "3.9", "3.10", "3.11", "3.12"]
+        exclude:
+          # Exclude some combinations to reduce CI time
+          - os: windows-latest
+            python-version: "3.8"
+          - os: windows-latest
+            python-version: "3.9"
+          - os: macos-latest
+            python-version: "3.8"
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Set up Python ${{ matrix.python-version }}
+      uses: actions/setup-python@v4
+      with:
+        python-version: ${{ matrix.python-version }}
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v2
+      with:
+        version: latest
+
+    - name: Cache uv dependencies
+      uses: actions/cache@v3
+      with:
+        path: |
+          .venv
+          .uv/cache
+        key: ${{ runner.os }}-${{ matrix.python-version }}-uv-${{ hashFiles('**/pyproject.toml', '**/uv.lock') }}
+        restore-keys: |
+          ${{ runner.os }}-${{ matrix.python-version }}-uv-
+
+    - name: Install dependencies
+      run: |
+        uv venv
+        uv pip install -e ".[test]"
+        uv pip list
+
+    - name: Run tests
+      run: |
+        uv run pytest tests/ -v --tb=short
+        # Ensure pytest is available
+        uv run python -c "import pytest; print(f'Pytest version: {pytest.__version__}')"
+
+    - name: Run performance benchmarks
+      run: |
+        uv run pytest tests/benchmarks/ -v --tb=short
+
+    - name: Test package import
+      run: |
+        uv run python -c "import tsr; print('Package imports successfully')"
+        uv run python -c "from tsr import TSR, TSRTemplate, generate_mug_grasp_template; print('Core features import successfully')"
+
+    - name: Test examples directory
+      run: |
+        # Test that examples directory exists and contains expected files
+        python -c "import os; print('Examples files:', os.listdir('examples/'))"
+        echo "Examples directory structure verified"
+
+  # Separate job for testing with pip (to ensure compatibility)
+  test-pip:
+    name: Test with pip (Python 3.11)
+    runs-on: ubuntu-latest
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Set up Python 3.11
+      uses: actions/setup-python@v4
+      with:
+        python-version: "3.11"
+
+    - name: Install dependencies with pip
+      run: |
+        python -m pip install --upgrade pip
+        pip install -e ".[test]"
+        pip list
+
+    - name: Run tests with pip
+      run: |
+        pytest tests/ -v --tb=short
+
+    - name: Test package import with pip
+      run: |
+        python -c "import tsr; print('Package imports successfully with pip')"
+        python -c "from tsr import TSR, TSRTemplate, generate_mug_grasp_template; print('Core features import successfully with pip')"
+
+  # Build and test package installation
+  build:
+    name: Build package
+    runs-on: ubuntu-latest
+    needs: test
+
+    steps:
+    - name: Checkout code
+      uses: actions/checkout@v4
+
+    - name: Set up Python 3.11
+      uses: actions/setup-python@v4
+      with:
+        python-version: "3.11"
+
+    - name: Install uv
+      uses: astral-sh/setup-uv@v2
+      with:
+        version: latest
+
+    - name: Build package
+      run: |
+        uv venv
+        uv pip install build
+        uv run python -m build
+
+    - name: Test built package
+      run: |
+        # Install the built package and test it
+        uv run pip install dist/*.whl
+        uv run python -c "import tsr; print('Built package imports successfully')"
+        uv run python -c "from tsr import TSR, TSRTemplate, generate_mug_grasp_template; print('Built package core features work')"

.gitignore

@@ -1,4 +1,217 @@
-*.pyc
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
 
-# Generated by nosetest
-*.noseids
+# 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/