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Update to Tesseract 0.21.4 and build for Python 3.12 (#62)
* Update to tesseract 0.21.4 * Fix LD_LIBRARY_PATH during docs build for wheels workflow * Bump version to 0.3.0 * Add python 3.12 build * Update generated api docs * Update docs requirements * Update docs requirements * Update docs build configs * Update docs build configs * Update docs build configs
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‎.github/workflows/wheels.yml‎

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@@ -35,26 +35,43 @@ jobs:
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.7"
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docs: false
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docs_cmake: OFF
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.8"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.9"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.10"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.11.0"
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docs: true
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docs_cmake: ON
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- os: ubuntu-20.04
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runs_on: ubuntu-20.04
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container: ubuntu:20.04
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py_platform: manylinux_2_31_x86_64
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python_version: "3.12.0"
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docs: true
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docs_cmake: ON
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env:
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DEBIAN_FRONTEND: noninteractive
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steps:
@@ -91,6 +108,9 @@ jobs:
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run: |
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python -m pip install --upgrade pip
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python -m pip install auditwheel wheel numpy setuptools colcon-common-extensions vcstool patchelf
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- name: pip
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if: matrix.config.docs == true
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run: |
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python -m pip install -r ws/src/tesseract_python/docs/requirements.txt
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- name: vcs import
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working-directory: ws/src
@@ -108,7 +128,7 @@ jobs:
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-DTESSERACT_PYTHON_BUILD_WHEEL=ON
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-DTESSERACT_PYTHON_WHEEL_PLATFORM=${{ matrix.config.py_platform }}
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-DTESSERACT_ENABLE_EXAMPLES=OFF -DTESSERACT_PLUGIN_FACTORY_CALLBACKS=ON
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-DTESSERACT_PYTHON_BUILD_DOCUMENTATION=ON
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-DTESSERACT_PYTHON_BUILD_DOCUMENTATION=${{ matrix.config.docs_cmake }}
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- name: test
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shell: bash
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run: |
@@ -122,9 +142,11 @@ jobs:
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cd ws/src/tesseract_python/tesseract_python
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pytest -s
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- name: build docs
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if: matrix.config.docs == true
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shell: bash
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working-directory: ws/build/tesseract_python
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run: |
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export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:$GITHUB_WORKSPACE/ws/install/lib
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cmake --build . --config Release --target tesseract_python_doc
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- name: archive wheels
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uses: actions/upload-artifact@v2
@@ -162,6 +184,10 @@ jobs:
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.11.0"
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- arch: x64
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vcpkg_triplet: x64-windows-release
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cmake_arch: x64
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python_version: "3.12.0"
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steps:
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- uses: actions/checkout@v2
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with:

‎README.md‎

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@@ -127,8 +127,8 @@ from tesseract_robotics.tesseract_command_language import CartesianWaypoint, Way
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MoveInstructionPoly_wrap_MoveInstruction, StateWaypointPoly_wrap_StateWaypoint, \
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CartesianWaypointPoly_wrap_CartesianWaypoint, JointWaypointPoly_wrap_JointWaypoint
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from tesseract_robotics.tesseract_task_composer import TaskComposerPluginFactory, PlanningTaskComposerProblemUPtr, \
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TaskComposerDataStorage, TaskComposerInput, TaskComposerProblemUPtr, PlanningTaskComposerProblemUPtr_as_TaskComposerProblemUPtr
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from tesseract_robotics.tesseract_task_composer import TaskComposerPluginFactory, PlanningTaskComposerProblem, \
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TaskComposerDataStorage, TaskComposerContext
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from tesseract_robotics_viewer import TesseractViewer
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@@ -199,8 +199,7 @@ factory = TaskComposerPluginFactory(config_path)
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# Create the task composer node. In this case the FreespacePipeline is used. Many other are available.
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task = factory.createTaskComposerNode("FreespacePipeline")
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# Get the input and output keys for the task
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input_key = task.getInputKeys()[0]
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# Get the output keys for the task
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output_key = task.getOutputKeys()[0]
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# Create a profile dictionary. Profiles can be customized by adding to this dictionary and setting the profiles
@@ -211,24 +210,19 @@ profiles = ProfileDictionary()
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# support implicit conversion from the CompositeInstruction to the AnyPoly.
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program_anypoly = AnyPoly_wrap_CompositeInstruction(program)
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# Create the task data storage and set the data
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task_data = TaskComposerDataStorage()
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task_data.setData(input_key, program_anypoly)
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# Create the task problem and input
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task_planning_problem = PlanningTaskComposerProblemUPtr.make_unique(t_env, task_data, profiles)
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task_problem = PlanningTaskComposerProblemUPtr_as_TaskComposerProblemUPtr(task_planning_problem)
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task_input = TaskComposerInput(task_problem)
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task_planning_problem = PlanningTaskComposerProblem(t_env, profiles)
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task_planning_problem.input = program_anypoly
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# Create an executor to run the task
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task_executor = factory.createTaskComposerExecutor("TaskflowExecutor")
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# Run the task and wait for completion
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future = task_executor.run(task.get(), task_input)
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future = task_executor.run(task.get(), task_planning_problem)
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future.wait()
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# Retrieve the output, converting the AnyPoly back to a CompositeInstruction
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results = AnyPoly_as_CompositeInstruction(task_input.data_storage.getData(output_key))
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results = AnyPoly_as_CompositeInstruction(future.context.data_storage.getData(output_key))
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# Display the output
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# Print out the resulting waypoints

‎dependencies.rosinstall‎

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- git:
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local-name: ros_industrial_cmake_boilerplate
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uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
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version: 0.4.5
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version: 0.5.4
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- git:
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local-name: tesseract
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uri: https://github.com/tesseract-robotics/tesseract.git
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version: 0.18.1
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version: 0.21.4
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local-name: tesseract_planning
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uri: https://github.com/tesseract-robotics/tesseract_planning.git
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version: 0.18.2
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version: 0.21.4
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- git:
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local-name: trajopt
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uri: https://github.com/tesseract-robotics/trajopt.git
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version: 0.6.0
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version: 0.7.0
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- git:
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local-name: descartes_light
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uri: https://github.com/swri-robotics/descartes_light.git
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version: 0.3.1
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version: 0.4.2
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- git:
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local-name: opw_kinematics
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uri: https://github.com/Jmeyer1292/opw_kinematics.git

‎dependencies_with_ext.rosinstall‎

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- git:
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local-name: ros_industrial_cmake_boilerplate
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uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
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version: 0.4.5
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version: 0.5.4
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- git:
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local-name: tesseract
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uri: https://github.com/tesseract-robotics/tesseract.git
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version: 0.18.1
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version: 0.21.4
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local-name: tesseract_planning
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uri: https://github.com/tesseract-robotics/tesseract_planning.git
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version: 0.18.2
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version: 0.21.4
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local-name: trajopt
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uri: https://github.com/tesseract-robotics/trajopt.git
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version: 0.6.0
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version: 0.7.0
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- git:
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local-name: descartes_light
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uri: https://github.com/swri-robotics/descartes_light.git
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version: 0.3.1
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version: 0.4.2
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- git:
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local-name: opw_kinematics
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uri: https://github.com/Jmeyer1292/opw_kinematics.git

‎docs/_source/modules/tesseract_motion_planners/api_docs_generated.rst‎

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*******
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JointGroupInstructionInfo Class
7-
===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_motion_planners.JointGroupInstructionInfo
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:noindex:
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:exclude-members: thisown
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:members:
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KinematicGroupInstructionInfo Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_motion_planners.KinematicGroupInstructionInfo
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:noindex:
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:exclude-members: thisown
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:members:
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MotionPlanner Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_motion_planners.MotionPlanner
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.formatProgram
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:noindex:
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generateInterpolatedProgram Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.generateInterpolatedProgram
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:noindex:
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getClosestJointSolution Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.getClosestJointSolution
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:noindex:
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getInterpolatedInstructions Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.getInterpolatedInstructions
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:noindex:
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getJointTurns Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.getJointTurns
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.getRobotConfig
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:noindex:
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interpolate Function
93-
===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolate
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:noindex:
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interpolateCartCartWaypoint Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateCartCartWaypoint
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:noindex:
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interpolateCartJointWaypoint Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateCartJointWaypoint
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:noindex:
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interpolateJointCartWaypoint Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateJointCartWaypoint
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:noindex:
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interpolateJointJointWaypoint Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateJointJointWaypoint
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:noindex:
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interpolate_waypoint Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolate_waypoint
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:noindex:
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toToolpath Function
12364
===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners.toToolpath

‎docs/_source/modules/tesseract_motion_planners_simple/api_docs_generated.rst‎

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*******
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JointGroupInstructionInfo Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_motion_planners_simple.JointGroupInstructionInfo
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:noindex:
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:exclude-members: thisown
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:members:
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KinematicGroupInstructionInfo Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_motion_planners_simple.KinematicGroupInstructionInfo
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:noindex:
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:exclude-members: thisown
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:members:
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SimpleMotionPlanner Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_motion_planners_simple.SimpleMotionPlanner
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.ProfileDictionary_removeProfile_SimplePlannerPlanProfile
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:noindex:
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generateInterpolatedProgram Function
144+
===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.generateInterpolatedProgram
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:noindex:
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getClosestJointSolution Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.getClosestJointSolution
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:noindex:
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getInterpolatedInstructions Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.getInterpolatedInstructions
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:noindex:
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interpolate Function
159+
===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolate
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:noindex:
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interpolateCartCartWaypoint Function
164+
===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateCartCartWaypoint
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:noindex:
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interpolateCartJointWaypoint Function
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===================================================================================================
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.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateCartJointWaypoint
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:noindex:
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interpolateJointCartWaypoint Function
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===================================================================================================
175+
.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateJointCartWaypoint
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:noindex:
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interpolateJointJointWaypoint Function
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===================================================================================================
180+
.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateJointJointWaypoint
181+
:noindex:
182+
183+
interpolate_waypoint Function
184+
===================================================================================================
185+
.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolate_waypoint
186+
:noindex:
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Container Templates
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*******************
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‎docs/_source/modules/tesseract_task_composer/api_docs_generated.rst‎

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:exclude-members: thisown
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:members:
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TaskComposerContext Class
84+
===================================================================================================
85+
.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerContext
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:noindex:
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:exclude-members: thisown
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:members:
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TaskComposerContextUPtr Class
91+
===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerContextUPtr
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:noindex:
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:exclude-members: thisown
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:members:
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TaskComposerDataStorage Class
8498
===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerDataStorage
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143157
:exclude-members: thisown
144158
:members:
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TaskComposerInput Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerInput
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:noindex:
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:exclude-members: thisown
151-
:members:
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TaskComposerInputUPtr Class
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===================================================================================================
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.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerInputUPtr
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:noindex:
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:exclude-members: thisown
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:members:
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160160
TaskComposerNode Class
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.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerNode

‎docs/requirements.txt‎

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sphinx
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sphinx==6.2.1
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sphinx_rtd_theme
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gitpython
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recommonmark
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opencv-python

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