support python 3.11, 3.12; bug fixes; test initial publishing

.github/workflows/publish.yml

@@ -8,6 +8,7 @@ jobs:
     # Only publish on `publish` branch
     if: github.ref == 'refs/heads/publish'
     runs-on: ubuntu-latest
+    environment: release
     permissions:  # Don't forget permissions
       contents: write
     steps:

CHANGELOG.md

@@ -1,7 +1,8 @@
 # Changelog
 
-## pyrcf
-
-## [0.0.0]
+## [0.0.1] - 2024-08-08
 
+### Adds
 
+- Initial working version of framework
+- Minimal dummy example of control loop

pyproject.toml

@@ -1,31 +1,33 @@
 [project]
 name = "pyrcf"
-version = "0.2.0"
+version = "0.0.1"
 authors = [{ name = "Saif Sidhik", email = "[email protected]" }]
 description = "A Python Robot Control Framework for quickly prototyping control algorithms for different robot embodiments."
 readme = "README.md"
 
-dependencies = ["pybullet>=3.2.6,<4", "numpy", "pin>=2.7.0,<3", "pybullet-robot>=0.1.4"]
+dependencies = [
+  "pybullet>=3.2.6,<4",
+  "pin>=2.7.0,<3",
+  "pybullet-robot>=0.1.4",
+  "yourdfpy>=0.0.56,<0.0.57",
+  "scipy>=1.14.0,<2",
+  "pygame>=2.6.0,<3",
+  "numpy>=1.26",
+]
 
 [tool.pixi.project]
 channels = ["conda-forge"]
 platforms = ["linux-64"]
 
 [tool.pixi.dependencies]
-python = ">=3.10,<3.11"
-nptyping = ">=2.5.0,<3"
-dataclasses = ">=0.8,<0.9"
-numpy = ">=1.6,<2.0"
-yourdfpy = ">=0.0.56,<0.0.57"
-scipy = ">=1.14.0,<2"
-pygame = ">=2.6.0,<3"
+python = ">=3.10"
 
 [tool.pixi.feature.py310.dependencies]
 python = "3.10.*"
-# [tool.pixi.feature.py311.dependencies]
-# python = "3.11.*"
-# [tool.pixi.feature.py312.dependencies]
-# python = "3.12.*"
+[tool.pixi.feature.py311.dependencies]
+python = "3.11.*"
+[tool.pixi.feature.py312.dependencies]
+python = "3.12.*"
 
 [tool.pixi.feature.devenv]
 dependencies = { python = "3.10" }
@@ -62,8 +64,8 @@ include = ["pyrcf"]
 [tool.pixi.environments]
 default = { features = ["test"], solve-group = "default" }
 py310 = ["py310", "test"]
-# py311 = ["py311", "test"]
-# py312 = ["py312", "test"]
+py311 = ["py311", "test"]
+py312 = ["py312", "test"]
 devenv = { features = [
   "devenv",
 ], solve-group = "devenv", no-default-feature = true }

pyrcf/components/global_planners/ui_reference_generators/ui_base.py

@@ -17,11 +17,6 @@
 
 
 class UIBase(GlobalMotionPlannerBase):
-    class NotConnectedError(RuntimeError):
-        """Exception to be thrown when a UI interface could not be detected or was disconnected."""
-
-        def __init__(self, *args):
-            super().__init__(*args)
 
     @abstractmethod
     def process_user_input(

pyrcf/core/exceptions.py

@@ -1,5 +1,15 @@
 class PyRCFExceptionBase(Exception): ...
 
 
+# CtrlLoop Signal
 class CtrlLoopExitSignal(KeyboardInterrupt):
     """Request to exit the control loop."""
+
+
+# UI Errors
+class UIException(IOError):
+    """Exceptions relating to user interfaces (UIBase objects)."""
+
+
+class NotConnectedError(UIException):
+    """Exception to be thrown when a UI interface could not be detected or was disconnected."""

pyrcf/core/types/planner_outputs.py

@@ -1,4 +1,4 @@
-from dataclasses import dataclass
+from dataclasses import dataclass, field
 from enum import Enum
 
 from .tf_types import Twist, RelativePose
@@ -78,17 +78,17 @@ class GlobalMotionPlan:
     [r,p,y] = [0.0, 0.0, yaw_BF] in world
     """
 
-    twist: Twist = Twist()
+    twist: Twist = field(default_factory=Twist)
     """Twist in base/teleop frame of the robot"""
 
     # joint reference is not ideal in a global plan message; only left for directly sending
     # reference using joystick/gui (for testing new robots, or for controlling manipulator)
-    joint_references: JointStates = JointStates()
+    joint_references: JointStates = field(default_factory=JointStates)
     """Desired joint references. Typically a local planner would only fill joint position or
     velocity values, and not effort values."""
     # ee references is not ideal in a global plan message; only left for directly sending reference
     # using joystick/gui (for testing new robots, or for controlling manipulator)
-    end_effector_references: EndEffectorStates = EndEffectorStates()
+    end_effector_references: EndEffectorStates = field(default_factory=EndEffectorStates)
     """Desired end-effector pose (in global frame), contact states, contact forces etc. can be
     defined here."""
 
@@ -120,9 +120,8 @@ class LocalMotionPlan:
     This may have to be changed later if there is a need.
     """
 
-    relative_pose: RelativePose = (
-        None  # setting default value of identity is wrong (due to definition of teleop frame)
-    )
+    # setting default value of identity is wrong (due to definition of teleop frame)
+    relative_pose: RelativePose = None
     """Pose in teleop frame of the robot.
 
     Teleop frame is equivalent to robot (base) frame, but has the roll, pitch and height values
@@ -136,12 +135,12 @@ class LocalMotionPlan:
     -------
     NOTE: The frame used may have to be changed later. We may need to use this in the global frame.
     """
-    twist: Twist = Twist()
+    twist: Twist = field(default_factory=Twist)
     """Base velocity commands in the base frame."""
-    joint_references: JointStates = JointStates()
+    joint_references: JointStates = field(default_factory=JointStates)
     """Desired joint references. Typically a local planner would only fill joint position or
     velocity values, and not effort values."""
-    end_effector_references: EndEffectorStates = EndEffectorStates()
+    end_effector_references: EndEffectorStates = field(default_factory=EndEffectorStates)
     """Desired end-effector pose (in global frame), contact states, contact forces etc. can be
     defined here.
 

pyrcf/core/types/robot_io.py

@@ -364,11 +364,11 @@ class StateEstimates:
     NOTE: It might be worth making base state estimates into type FrameMotion.
     """
 
-    pose: Pose3D = Pose3D()
+    pose: Pose3D = field(default_factory=Pose3D)
     """Pose of the robot's base link in the world frame."""
-    twist: Twist = Twist()
+    twist: Twist = field(default_factory=Twist)
     """Velocity of the robot in the base frame; linear and angular."""
-    end_effector_states: EndEffectorStates = EndEffectorStates()
+    end_effector_states: EndEffectorStates = field(default_factory=EndEffectorStates)
     """State estimate data relating to end-effectors of this robot."""
 
     def extend(
@@ -419,9 +419,9 @@ class RobotState:
     All joint values should be in the order mentioned in joint_names.
     """
 
-    state_estimates: StateEstimates = StateEstimates()
+    state_estimates: StateEstimates = field(default_factory=StateEstimates)
     """State estimator output."""
-    joint_states: JointStates = JointStates()
+    joint_states: JointStates = field(default_factory=JointStates)
     """Proprioceptive data from the robot sensors/interfaces."""
 
     def extend(
@@ -491,7 +491,7 @@ class RobotCmd:
         Kd (np.ndarray)
     """
 
-    joint_commands: JointStates = JointStates()
+    joint_commands: JointStates = field(default_factory=JointStates)
     Kp: np.ndarray = None
     """Array of joint position gains for each joint (stiffness) in `joint_commands.joint_names`
     order."""

pyrcf/core/types/tf_types.py

@@ -19,38 +19,35 @@ class Pose3D:
         Defaults to False.
     """
 
-    position: Vector3D = np.zeros(3)
-    orientation: QuatType = np.array([0, 0, 0, 1])
+    position: Vector3D = field(default_factory=lambda: np.zeros(3))
+    orientation: QuatType = field(default_factory=lambda: np.array([0, 0, 0, 1]))
     """quaternion [x,y,z,w]"""
 
     validate_quaternion: bool = field(default=False, init=True, repr=False)
     """If this is enabled, quaternion validity will be checked after construction. Default False."""
 
-    def __post_init__(self):
-        self.__do_checks()
-
-    def __do_checks(self):
-        assert len(self.position) == 3, "Position dimension should be 3."
-        assert len(self.orientation) == 4, "Quaternion dimension should be 4."
-        if not self.validate_quaternion:
-            return
-        assert np.isclose(np.linalg.norm(self.orientation), 1.0), "Quaternion is not normalised."
-
     def __eq__(self, other: "Pose3D") -> bool:
         return np.allclose(self.position, other.position) and np.allclose(
             self.orientation, other.orientation
         )
 
     def __setattr__(self, prop, val):
-        if prop not in ["position", "orientation", "validate_quaternion"]:
-            raise NameError(
-                f"Tried to assign value to illegal parameter {prop} in object of type "
-                f"{self.__class__.__name__}."
-            )
-        if prop != "validate_quaternion":
-            val = np.array(val)
-        super().__setattr__(prop, val)
-        self.__do_checks()
+        match prop:
+            case "position":
+                assert len(val) == 3, "Position dimension should be 3."
+            case "orientation":
+                assert len(val) == 4, "Quaternion dimension should be 4."
+                if self.validate_quaternion:
+                    assert np.isclose(np.linalg.norm(val), 1.0), "Quaternion is not normalised."
+            case "validate_quaternion":
+                super().__setattr__(prop, val)
+                return
+            case _:
+                raise NameError(
+                    f"Tried to assign value to illegal parameter {prop} in object of type "
+                    f"{self.__class__.__name__}."
+                )
+        super().__setattr__(prop, np.array(val))
 
 
 @dataclass
@@ -60,15 +57,8 @@ class Twist:
     This object also allows equality comparison (e.g. check for (`if twist1 == twist2:`)).
     """
 
-    linear: Vector3D = np.zeros(3)
-    angular: Vector3D = np.zeros(3)
-
-    def __post_init__(self):
-        self.__do_checks()
-
-    def __do_checks(self):
-        assert len(self.linear) == 3, "Linear velocity should be of dimension 3"
-        assert len(self.angular) == 3, "Angular velocity should be of dimension 3"
+    linear: Vector3D = field(default_factory=lambda: np.zeros(3))
+    angular: Vector3D = field(default_factory=lambda: np.zeros(3))
 
     def __eq__(self, other: "Twist") -> bool:
         return np.allclose(self.linear, other.linear) and np.allclose(self.angular, other.angular)
@@ -77,10 +67,10 @@ def __setattr__(self, __name: str, __value: np.ndarray | Tuple[float]) -> None:
         if __name not in ["linear", "angular"]:
             raise NameError(
                 f"Tried to assign value to illegal parameter {__name} in object of type "
-                f" {self.__class__.__name__}."
+                f"{self.__class__.__name__}."
             )
+        assert len(__value) == 3, f"{__name} velocity should be of dimension 3"
         super().__setattr__(__name, np.array(__value))
-        self.__do_checks()
 
 
 @dataclass
@@ -91,17 +81,10 @@ class RelativePose:
     This object also allows equality comparison (e.g. check for (`if r_pose1 == r_pose2:`)).
     """
 
-    position: Vector3D = np.zeros(3)
-    rpy: Vector3D = np.zeros(3)
+    position: Vector3D = field(default_factory=lambda: np.zeros(3))
+    rpy: Vector3D = field(default_factory=lambda: np.zeros(3))
     """[Roll, Pitch, Yaw] in radians"""
 
-    def __post_init__(self):
-        self.__do_checks()
-
-    def __do_checks(self):
-        assert len(self.position) == 3, "Position should be of dimension 3"
-        assert len(self.rpy) == 3, "RPY should be of dimension 3"
-
     def __eq__(self, other: "RelativePose") -> bool:
         return np.allclose(self.position, other.position) and np.allclose(self.rpy, other.rpy)
 
@@ -111,5 +94,5 @@ def __setattr__(self, __name: str, __value: np.ndarray | Tuple[float]) -> None:
                 f"Tried to assign value to illegal parameter {__name} in object of type "
                 f"{self.__class__.__name__}."
             )
+        assert len(__value) == 3, f"{__name} should be of dimension 3"
         super().__setattr__(__name, np.array(__value))
-        self.__do_checks()