Update to Tesseract 0.21.4 and build for Python 3.12

.github/workflows/wheels.yml

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

README.md

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

dependencies.rosinstall

@@ -1,23 +1,23 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.5
+    version: 0.5.4
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.18.1
+    version: 0.21.4
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.18.2
+    version: 0.21.4
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.6.0
+    version: 0.7.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
+    version: 0.4.2
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

dependencies_with_ext.rosinstall

@@ -1,23 +1,23 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.5
+    version: 0.5.4
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.18.1
+    version: 0.21.4
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.18.2
+    version: 0.21.4
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
-    version: 0.6.0
+    version: 0.7.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
+    version: 0.4.2
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

docs/_source/modules/tesseract_motion_planners/api_docs_generated.rst

@@ -3,20 +3,6 @@ Classes
 *******
 
 
-JointGroupInstructionInfo Class
-===================================================================================================
-.. autoclass:: tesseract_robotics.tesseract_motion_planners.JointGroupInstructionInfo
-   :noindex:
-   :exclude-members: thisown
-   :members:
-
-KinematicGroupInstructionInfo Class
-===================================================================================================
-.. autoclass:: tesseract_robotics.tesseract_motion_planners.KinematicGroupInstructionInfo
-   :noindex:
-   :exclude-members: thisown
-   :members:
-
 MotionPlanner Class
 ===================================================================================================
 .. autoclass:: tesseract_robotics.tesseract_motion_planners.MotionPlanner
@@ -64,21 +50,6 @@ formatProgram Function
 .. autofunction:: tesseract_robotics.tesseract_motion_planners.formatProgram
    :noindex:
 
-generateInterpolatedProgram Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.generateInterpolatedProgram
-   :noindex:
-
-getClosestJointSolution Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.getClosestJointSolution
-   :noindex:
-
-getInterpolatedInstructions Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.getInterpolatedInstructions
-   :noindex:
-
 getJointTurns Function
 ===================================================================================================
 .. autofunction:: tesseract_robotics.tesseract_motion_planners.getJointTurns
@@ -89,36 +60,6 @@ getRobotConfig Function
 .. autofunction:: tesseract_robotics.tesseract_motion_planners.getRobotConfig
    :noindex:
 
-interpolate Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolate
-   :noindex:
-
-interpolateCartCartWaypoint Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateCartCartWaypoint
-   :noindex:
-
-interpolateCartJointWaypoint Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateCartJointWaypoint
-   :noindex:
-
-interpolateJointCartWaypoint Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateJointCartWaypoint
-   :noindex:
-
-interpolateJointJointWaypoint Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolateJointJointWaypoint
-   :noindex:
-
-interpolate_waypoint Function
-===================================================================================================
-.. autofunction:: tesseract_robotics.tesseract_motion_planners.interpolate_waypoint
-   :noindex:
-
 toToolpath Function
 ===================================================================================================
 .. autofunction:: tesseract_robotics.tesseract_motion_planners.toToolpath

docs/_source/modules/tesseract_motion_planners_simple/api_docs_generated.rst

@@ -3,6 +3,20 @@ Classes
 *******
 
 
+JointGroupInstructionInfo Class
+===================================================================================================
+.. autoclass:: tesseract_robotics.tesseract_motion_planners_simple.JointGroupInstructionInfo
+   :noindex:
+   :exclude-members: thisown
+   :members:
+
+KinematicGroupInstructionInfo Class
+===================================================================================================
+.. autoclass:: tesseract_robotics.tesseract_motion_planners_simple.KinematicGroupInstructionInfo
+   :noindex:
+   :exclude-members: thisown
+   :members:
+
 SimpleMotionPlanner Class
 ===================================================================================================
 .. autoclass:: tesseract_robotics.tesseract_motion_planners_simple.SimpleMotionPlanner
@@ -126,6 +140,51 @@ ProfileDictionary_removeProfile_SimplePlannerPlanProfile Function
 .. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.ProfileDictionary_removeProfile_SimplePlannerPlanProfile
    :noindex:
 
+generateInterpolatedProgram Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.generateInterpolatedProgram
+   :noindex:
+
+getClosestJointSolution Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.getClosestJointSolution
+   :noindex:
+
+getInterpolatedInstructions Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.getInterpolatedInstructions
+   :noindex:
+
+interpolate Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolate
+   :noindex:
+
+interpolateCartCartWaypoint Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateCartCartWaypoint
+   :noindex:
+
+interpolateCartJointWaypoint Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateCartJointWaypoint
+   :noindex:
+
+interpolateJointCartWaypoint Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateJointCartWaypoint
+   :noindex:
+
+interpolateJointJointWaypoint Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolateJointJointWaypoint
+   :noindex:
+
+interpolate_waypoint Function
+===================================================================================================
+.. autofunction:: tesseract_robotics.tesseract_motion_planners_simple.interpolate_waypoint
+   :noindex:
+
 Container Templates
 *******************
 

docs/_source/modules/tesseract_task_composer/api_docs_generated.rst

@@ -80,6 +80,20 @@ RuckigTrajectorySmoothingMoveProfile Class
    :exclude-members: thisown
    :members:
 
+TaskComposerContext Class
+===================================================================================================
+.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerContext
+   :noindex:
+   :exclude-members: thisown
+   :members:
+
+TaskComposerContextUPtr Class
+===================================================================================================
+.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerContextUPtr
+   :noindex:
+   :exclude-members: thisown
+   :members:
+
 TaskComposerDataStorage Class
 ===================================================================================================
 .. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerDataStorage
@@ -143,20 +157,6 @@ TaskComposerGraphUPtr Class
    :exclude-members: thisown
    :members:
 
-TaskComposerInput Class
-===================================================================================================
-.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerInput
-   :noindex:
-   :exclude-members: thisown
-   :members:
-
-TaskComposerInputUPtr Class
-===================================================================================================
-.. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerInputUPtr
-   :noindex:
-   :exclude-members: thisown
-   :members:
-
 TaskComposerNode Class
 ===================================================================================================
 .. autoclass:: tesseract_robotics.tesseract_task_composer.TaskComposerNode

docs/requirements.txt

@@ -1,4 +1,5 @@
-sphinx
+sphinx==6.2.1
 sphinx_rtd_theme
 gitpython
 recommonmark
+opencv-python