Bring needle constraint work from simulator_tests (keep main's CI and core) - #9
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Take the Python source as-is from `simulator_tests` (f79177a) on top of current `main`: the rewritten `_impl.py` VFI (angular insertion constraint, insertion constraints and needle offset in `needle_w`), the updated `icra2019_controller.py`, `needle_controller.py`, package `__init__.py`, examples, and `saul/insertion_1.py`. Also drop what that work no longer needs, per repo maintainers: - `tests/`: the old test suite is no longer relevant. - CoppeliaSim: `example_kinematics_from_coppeliasim.py` and its console-script entry are removed (the example is not used). - CI: the obsolete `test` job is removed from the workflow (it ran `pytest tests/ -v`, which no longer exists); `publish` now only needs `build`. All other build/publish steps are unchanged. Kept from `main`: the CI build/publish pipeline (including auditwheel manylinux repair), the C++ core and submodules, packaging (`pyproject.toml`, `setup.py`, `MANIFEST.in`), the PEP 561 `_core.pyi` stub and `py.typed` marker, and the devcontainer. The `marinholab-stubs` approach from `simulator_tests` is intentionally not adopted. Co-Authored-By: openhands <openhands@all-hands.dev>
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Summary
Brings the Python source from
simulator_tests(f79177a) on top of currentmain(d738316), while keepingmain's CI pipeline, C++ core, and packaging. This was created by an AI agent (OpenHands) on behalf of the maintainer.Taken from
simulator_tests(verbatim)marinholab/working/needlemanipulation/:__init__.py,_impl.py(rewritten VFI — new angular insertion constraint, insertion constraints +needle_offsetinneedle_w, 11 new constraint helpers),example.py,example_create_needle_controller.py,example_load_from_file.py,icra2019_controller.py,needle_controller.pysaul/insertion_1.py(the onlysaul/script that differs between the branches)Removed (per maintainers)
tests/— the old test suite is no longer relevantexample_kinematics_from_coppeliasim.pyand itspyproject.tomlconsole-script entry (the example is not used)testjob from.github/workflows/python-publish.yml— it ranpytest tests/ -v, which no longer exists;publishnowneeds: [build]. All other build/publish steps (including auditwheel manylinux repair) are unchanged.Kept from
mainsrc/,CMakeLists.txt,.gitmodules, submodules)pyproject.toml,setup.py,MANIFEST.in_core.pyistub +py.typedmarker (themarinholab-stubs/approach fromsimulator_testsis intentionally not adopted)Notes / known risks
from dqrobotics.solvers import DQ_QuadprogSolver, which is what main's CI already installs (dqrobotics + quadprog) — verified.simulator_tests(commented-out qpOASES bindings + a submodule layout change) were deliberately not taken; the Python works unchanged againstmain's_core.pip install . --no-build-isolation), package + all new symbols import,NeedleControllerconstructs withinsertion_constraintson/off, and the new constraint machinery produces finite values end-to-end.This [PR] was created by an AI agent (OpenHands) on behalf of the maintainer.