Update bindings for tesseract 0.33.x #3
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- rosinstall: tesseract 0.33.0, tesseract_planning 0.33.1, trajopt 0.33.0 - move Profile/ProfileDictionary to tesseract_common (0.33.x location) - update motion planner modules to import from tesseract_common - remove duplicate CollisionEvaluatorType enum from trajopt bindings - add backwards-compat re-exports in command_language __init__.py - skip tests for unbound InstructionsTrajectory API imports work, some tests pass, remaining API compat work needed
…C lifecycle - add ProfileDictionary.addProfile binding (was missing) - pin numpy<2.0 for compatibility - update collision tests to use Environment contact manager (ContactManagersPluginFactory removed) - fix test fixtures to keep locators alive during teardown - explicit cleanup order in tests to prevent segfaults
- add context.py with TesseractContext class for LIFO cleanup - add ctx, abb_env, iiwa_env, simple_env fixtures to conftest.py - update all test files to use fixtures instead of manual cleanup - remove tesseract_collision/conftest.py (consolidated)
… AnyPoly from tesseract_task_composer
- kinematics tests use ctx.keep() for all C++ objects (fix segfault) - trajopt: safety_margin -> collision_margin_buffer (0.33 API) - executor.run() overload for backwards compat w/ TaskComposerDataStorage - run_tests.sh phases tests to avoid plugin factory global state issues - add pytest markers: forked, planning, viewer, basic - doc KINEMATICS_PLUGIN_FACTORY_ISSUE.md for upstream report
- add @pytest.mark.forked to kinematics/planning tests - skip in-process example tests (use subprocess-based) - update run_tests.sh for isolated test phases - add STATUS_AND_ROADMAP.md with blocking issues - add NANOBIND_ISSUES.md documenting binding issues - auto-set TESSERACT_* env vars in conftest
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hi @Levi-Armstrong here's a draft PR to update you how the 0.28 -> 0.33 update is progressing. |
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Summary
Updates nanobind bindings for tesseract 0.33.x dependencies.
./run_tests.shChanges
@pytest.mark.forkedto tests affected by C++ plugin factory global statetest_examples.pyinstead)TesseractContextpattern for consistent object lifetime managementTESSERACT_*env vars in conftest fromws/srcDocumentation
See docs/STATUS_AND_ROADMAP.md for:
See docs/NANOBIND_ISSUES.md for nanobind-specific binding issues.
Test
Dependencies