Open-source prep: MIT relicense, templates, SPDX headers#43
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Preparing tsr for public release (see personalrobotics/robot-code#3). Licensing: - LICENSE: relicensed to MIT, Copyright (c) 2025 Siddhartha Srinivasa. - pyproject.toml: license = "MIT", authors email updated to siddhartha.srinivasa@gmail.com, classifier updated. - CONTRIBUTORS.md: credits Berenson/Srinivasa/Kuffner (IJRR 2011) and Michael Koval (CMU 2013) for the original TSR work. - SPDX-License-Identifier + Copyright header on every .py file. Templates (synced from robot-code/.github-templates/): - LICENSE, CONTRIBUTING, SECURITY, CODE_OF_CONDUCT (links to Contributor Covenant 2.1), .github/CODEOWNERS, pull_request_template, ISSUE_TEMPLATE/{bug_report,improvement,task}.md + config.yml, .github/workflows/ci.yml (ruff + pytest matrix 3.10/3.11/3.12). Code cleanup: - Removed scripts/migrate_templates.py (one-shot, dead, had sys.path hack). - Moved late import in sampling.py to top of file (template -> TSR cycle is actually acyclic). - Removed unused matplotlib.cm import in examples/mesh_placements.py. - ruff check --fix + ruff format across src/, tests/, examples/. - Added [tool.ruff] section to pyproject.toml with 120 line length and per-file-ignores for __init__.py F401 (public API re-exports). Verified: 307 tests pass, ruff check clean, ruff format clean.
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Summary
Prepares tsr for public release. Part of personalrobotics/robot-code#3.
Changes
Licensing
LICENSE: BSD-3 (CMU 2016) → MIT (Siddhartha Srinivasa, 2025).pyproject.toml:license = "MIT", authors email →siddhartha.srinivasa@gmail.com, MIT classifier.CONTRIBUTORS.md: credits Berenson/Srinivasa/Kuffner (IJRR 2011) and Michael Koval (CMU 2013)..py.Templates (from robot-code/.github-templates/)
LICENSE,CONTRIBUTING.md,SECURITY.md,CODE_OF_CONDUCT.md,.github/CODEOWNERS,.github/pull_request_template.md,.github/ISSUE_TEMPLATE/{bug_report,improvement,task}.md+config.yml..github/workflows/ci.yml: ruff (check + format) + pytest matrix 3.10/3.11/3.12,astral-sh/setup-uv@v5,repository_dispatchnotification step to robot-code on push-to-main.Code cleanup
scripts/migrate_templates.py— one-shot migration, self-documented as "intentionally NOT committed", had asys.pathhack.TSRTemplateinsampling.pyto the top (no actual circular dep).matplotlib.cmimport inexamples/mesh_placements.py.ruff check --fix --unsafe-fixes+ruff formatacross src/tests/examples.[tool.ruff]config: 120 line length, F/E/W/I selects, per-file-ignoreF401on__init__.py(public-API re-exports).Testing
uv run pytest tests/ -v— 307 passeduv run ruff check .— All checks passeduv run ruff format --check .— 41 files already formattedBreaking changes
Related issues
Part of personalrobotics/robot-code#3