diff --git a/.github/workflows/python_publish_linux.yml b/.github/workflows/python_publish_linux.yml
index 46c351525..945e9d732 100644
--- a/.github/workflows/python_publish_linux.yml
+++ b/.github/workflows/python_publish_linux.yml
@@ -35,7 +35,5 @@ jobs:
TWINE_USERNAME: ${{ secrets.PYPI_USERNAME }}
TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
run: |
- python setup.py sdist bdist_wheel
- twine upload dist/*.gz
twine upload wheelhouse/*manylinux*
diff --git a/.github/workflows/pythonpackage.yml b/.github/workflows/pythonpackage.yml
index df13a5583..0183d9179 100644
--- a/.github/workflows/pythonpackage.yml
+++ b/.github/workflows/pythonpackage.yml
@@ -14,7 +14,7 @@ jobs:
strategy:
matrix:
os: [windows-latest, ubuntu-latest, macos-latest]
- python-version: [3.7, 3.8, 3.9]
+ python-version: [3.7, 3.8, 3.9, "3.10"]
steps:
- uses: actions/checkout@v2
- name: Set up Python ${{ matrix.python-version }}
diff --git a/.github/workflows/upload_tar.yml b/.github/workflows/upload_tar.yml
new file mode 100644
index 000000000..e7a8b983a
--- /dev/null
+++ b/.github/workflows/upload_tar.yml
@@ -0,0 +1,36 @@
+# This workflows will upload a Python Package using Twine when a release is created
+# For more information see: https://help.github.com/en/actions/language-and-framework-guides/using-python-with-github-actions#publishing-to-package-registries
+
+# name: Upload tar to PyPI
+
+on:
+ release:
+ types: [created]
+ workflow_dispatch:
+
+jobs:
+ deploy:
+ runs-on: ${{ matrix.os }}
+ strategy:
+ max-parallel: 2
+ matrix:
+ os: [ubuntu-latest]
+ python-version: [3.9]
+
+ steps:
+ - uses: actions/checkout@v2
+ - name: Set up Python
+ uses: actions/setup-python@v2
+ with:
+ python-version: ${{ matrix.python-version }}
+ - name: Install dependencies
+ run: |
+ python -m pip install --upgrade pip
+ pip install -U setuptools wheel twine
+ - name: Build and publish
+ env:
+ TWINE_USERNAME: __token__
+ TWINE_PASSWORD: ${{ secrets.PYPI_PASSWORD }}
+ run: |
+ python setup.py sdist bdist_wheel
+ twine upload dist/*.gz
diff --git a/roboticstoolbox/examples/tripleangledemo.py b/roboticstoolbox/examples/tripleangledemo.py
index 3009ecec0..a6d1055f9 100644
--- a/roboticstoolbox/examples/tripleangledemo.py
+++ b/roboticstoolbox/examples/tripleangledemo.py
@@ -11,30 +11,33 @@
from spatialmath import SO3, SE3
import numpy as np
-
-# TODO
-# rotate the rings according to the rotation axis, so that the axles
-# point the right way
-
-# Launch the simulator Swift
-env = swift.Swift()
-env.launch()
-
path = rtb.rtb_path_to_datafile("data")
+# rotation angle sequence
+sequence = "ZYX"
+
+# compute the three rotation matrices
+BASE = SE3(0, 0, 0.5)
+R1 = SO3()
+R2 = SO3()
+R3 = SO3()
g1 = Mesh(
- filename=str(path / "gimbal-ring1.stl"), color=[34, 143, 201], scale=(1.0 / 3,) * 3
+ filename=str(path / "gimbal-ring1.stl"),
+ color=[34, 143, 201],
+ scale=(1.0 / 3,) * 3,
)
g2 = Mesh(
- filename=str(path / "gimbal-ring2.stl"), color=[31, 184, 72], scale=(1.1 / 3,) * 3
+ filename=str(path / "gimbal-ring2.stl"),
+ color=[31, 184, 72],
+ scale=(1.1 / 3,) * 3,
)
g3 = Mesh(
filename=str(path / "gimbal-ring3.stl"),
color=[240, 103, 103],
- scale=(1.1**2 / 3,) * 3,
+ scale=(1.1 ** 2 / 3,) * 3,
)
plane = Mesh(
@@ -42,23 +45,6 @@
scale=(1.0 / (180 * 3),) * 3,
color=[240, 103, 103],
)
-print(path / "spitfire_assy-gear_up.stl")
-env.add(g1)
-env.add(g2)
-env.add(g3)
-env.add(plane)
-
-print("Supermarine Spitfire Mk VIII by Ed Morley @GRABCAD")
-print("Gimbal models by Peter Corke using OpenSCAD")
-
-# compute the three rotation matrices
-BASE = SE3(0, 0, 0.5)
-R1 = SO3()
-R2 = SO3()
-R3 = SO3()
-
-# rotation angle sequence
-sequence = "ZYX"
def update_gimbals(theta, ring):
@@ -92,140 +78,159 @@ def convert(R):
plane.T = convert(R1 * R2 * R3 * SO3.Ry(pi / 2) * SO3.Rz(pi / 2))
-# slider call backs, invoke the central handler
-def set_one(x):
- update_gimbals(float(x), 1)
-
-
-def set_two(x):
- update_gimbals(float(x), 2)
-
-
-def set_three(x):
- update_gimbals(float(x), 3)
+def demo():
+ # TODO
+ # rotate the rings according to the rotation axis, so that the axles
+ # point the right way
+ # Launch the simulator Swift
+ env = swift.Swift()
+ env.launch()
-r_one = swift.Slider(
- set_one, min=-180, max=180, step=1, value=0, desc="Outer gimbal", unit="°"
-)
+ print(path / "spitfire_assy-gear_up.stl")
+ env.add(g1)
+ env.add(g2)
+ env.add(g3)
+ env.add(plane)
+ print("Supermarine Spitfire Mk VIII by Ed Morley @GRABCAD")
+ print("Gimbal models by Peter Corke using OpenSCAD")
-r_two = swift.Slider(
- set_two, min=-180, max=180, step=1, value=0, desc="Middle gimbal", unit="°"
-)
+ # slider call backs, invoke the central handler
+ def set_one(x):
+ update_gimbals(float(x), 1)
+ def set_two(x):
+ update_gimbals(float(x), 2)
-r_three = swift.Slider(
- set_three, min=-180, max=180, step=1, value=0, desc="Inner gimbal", unit="°"
-)
+ def set_three(x):
+ update_gimbals(float(x), 3)
+ r_one = swift.Slider(
+ set_one, min=-180, max=180, step=1, value=0, desc="Outer gimbal", unit="°"
+ )
-# buttons to set a 3-angle sequence
-ZYX_button = swift.Button(
- lambda x: change_sequence("ZYX"), desc="ZYX (roll-pitch-yaw angles)"
-)
+ r_two = swift.Slider(
+ set_two, min=-180, max=180, step=1, value=0, desc="Middle gimbal", unit="°"
+ )
-XYZ_button = swift.Button(
- lambda x: change_sequence("XYZ"), desc="XYZ (roll-pitch-yaw angles)"
-)
+ r_three = swift.Slider(
+ set_three,
+ min=-180,
+ max=180,
+ step=1,
+ value=0,
+ desc="Inner gimbal",
+ unit="°",
+ )
-ZYZ_button = swift.Button(lambda x: change_sequence("ZYZ"), desc="ZYZ (Euler angles)")
+ # buttons to set a 3-angle sequence
+ ZYX_button = swift.Button(
+ lambda x: change_sequence("ZYX"), desc="ZYX (roll-pitch-yaw angles)"
+ )
-button = swift.Button(lambda x: set("ZYX"), desc="Set to Zero")
+ XYZ_button = swift.Button(
+ lambda x: change_sequence("XYZ"), desc="XYZ (roll-pitch-yaw angles)"
+ )
+ ZYZ_button = swift.Button(
+ lambda x: change_sequence("ZYZ"), desc="ZYZ (Euler angles)"
+ )
-# button to reset joint angles
-def reset(e):
- r_one.value = 0
- r_two.value = 0
- r_three.value = 0
- # env.step(0)
+ button = swift.Button(lambda x: set("ZYX"), desc="Set to Zero")
+ # button to reset joint angles
+ def reset(e):
+ r_one.value = 0
+ r_two.value = 0
+ r_three.value = 0
+ # env.step(0)
-zero_button = swift.Button(reset, desc="Set to Zero")
-
-
-def update_all_sliders():
- update_gimbals(float(r_one.value), 1)
- update_gimbals(float(r_two.value), 2)
- update_gimbals(float(r_three.value), 3)
-
+ zero_button = swift.Button(reset, desc="Set to Zero")
-def change_sequence(new):
- global sequence
+ def update_all_sliders():
+ update_gimbals(float(r_one.value), 1)
+ update_gimbals(float(r_two.value), 2)
+ update_gimbals(float(r_three.value), 3)
- xyz = "XYZ"
+ def change_sequence(new):
+ global sequence
- # update the state of the ring_axis dropdowns
- ring1_axis.checked = xyz.find(new[0])
- ring2_axis.checked = xyz.find(new[1])
- ring3_axis.checked = xyz.find(new[2])
+ xyz = "XYZ"
- sequence = new
- update_all_sliders()
+ # update the state of the ring_axis dropdowns
+ ring1_axis.checked = xyz.find(new[0])
+ ring2_axis.checked = xyz.find(new[1])
+ ring3_axis.checked = xyz.find(new[2])
+ sequence = new
+ update_all_sliders()
-# handle radio button on angle slider
-def angle(index, ring):
- global sequence
+ # handle radio button on angle slider
+ def angle(index, ring):
+ global sequence
- # print('angle', index, ring)
- xyz = "XYZ"
- s = list(sequence)
- s[ring] = xyz[int(index)]
- sequence = "".join(s)
- update_all_sliders()
+ # print('angle', index, ring)
+ xyz = "XYZ"
+ s = list(sequence)
+ s[ring] = xyz[int(index)]
+ sequence = "".join(s)
+ update_all_sliders()
+ ring1_axis = swift.Radio(lambda x: angle(x, 0), options=["X", "Y", "Z"], checked=2)
-ring1_axis = swift.Radio(lambda x: angle(x, 0), options=["X", "Y", "Z"], checked=2)
+ ring2_axis = swift.Radio(lambda x: angle(x, 1), options=["X", "Y", "Z"], checked=1)
-ring2_axis = swift.Radio(lambda x: angle(x, 1), options=["X", "Y", "Z"], checked=1)
+ ring3_axis = swift.Radio(lambda x: angle(x, 2), options=["X", "Y", "Z"], checked=0)
-ring3_axis = swift.Radio(lambda x: angle(x, 2), options=["X", "Y", "Z"], checked=0)
+ label = swift.Label(desc="Triple angle")
+ def chekked(e, el):
+ nlabel = "s: "
-label = swift.Label(desc="Triple angle")
+ if e[0]:
+ nlabel += "a"
+ r_one.value = 0
+ if e[1]:
+ nlabel += "b"
+ r_two.value = 0
-def chekked(e, el):
- nlabel = "s: "
+ if e[2]:
+ nlabel += "c"
+ r_three.value = 0
- if e[0]:
- nlabel += "a"
- r_one.value = 0
+ if e[3]:
+ el.value = 1
- if e[1]:
- nlabel += "b"
- r_two.value = 0
+ label.desc = nlabel
- if e[2]:
- nlabel += "c"
- r_three.value = 0
+ env.add(label)
+ env.add(r_one)
+ env.add(ring1_axis)
- if e[3]:
- el.value = 1
+ env.add(r_two)
+ env.add(ring2_axis)
- label.desc = nlabel
+ env.add(r_three)
+ env.add(ring3_axis)
+ env.add(ZYX_button)
+ env.add(XYZ_button)
+ env.add(ZYZ_button)
+ env.add(zero_button)
-env.add(label)
-env.add(r_one)
-env.add(ring1_axis)
+ update_gimbals(0, 1)
+ update_gimbals(0, 2)
+ update_gimbals(0, 3)
-env.add(r_two)
-env.add(ring2_axis)
+ while True:
+ env.step(0)
-env.add(r_three)
-env.add(ring3_axis)
-env.add(ZYX_button)
-env.add(XYZ_button)
-env.add(ZYZ_button)
-env.add(zero_button)
+def main():
+ demo()
-update_gimbals(0, 1)
-update_gimbals(0, 2)
-update_gimbals(0, 3)
-while True:
- env.step(0)
+if __name__ == "__main__":
+ main()
diff --git a/setup.py b/setup.py
index c58292735..7fc06f801 100644
--- a/setup.py
+++ b/setup.py
@@ -92,7 +92,7 @@ def package_files(directory):
setup(
name="roboticstoolbox-python",
- version="1.0.0",
+ version="1.0.1",
description="A Python library for robotic education and research",
long_description=long_description,
long_description_content_type="text/markdown",
@@ -136,7 +136,7 @@ def package_files(directory):
entry_points={
"console_scripts": [
"eigdemo=roboticstoolbox.examples.eigdemo:main",
- "tripleangledemo=roboticstoolbox.examples.tripleangledemo",
+ "tripleangledemo=roboticstoolbox.examples.tripleangledemo:main",
"twistdemo=roboticstoolbox.examples.twistdemo:main",
]
},
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