From 3fd199a5037c7d05017137de85a5965af19240ea Mon Sep 17 00:00:00 2001 From: Jesse Haviland Date: Mon, 15 May 2023 12:26:13 +1000 Subject: [PATCH 01/10] Update setup.py --- rtb-data/setup.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rtb-data/setup.py b/rtb-data/setup.py index 1bcfb219f..6318a0fb2 100644 --- a/rtb-data/setup.py +++ b/rtb-data/setup.py @@ -8,7 +8,7 @@ with open(os.path.join(here, "README.md"), encoding="utf-8") as f: long_description = f.read() -release = "1.0.0" +release = "1.1.0" # list all data folders here, to ensure they get packaged From 687d345d9994718d972a4b071dc061a3920d1733 Mon Sep 17 00:00:00 2001 From: Jesse Haviland Date: Tue, 16 May 2023 07:52:49 +1000 Subject: [PATCH 02/10] Update README.md --- README.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/README.md b/README.md index 1403b22a6..3091d25e9 100644 --- a/README.md +++ b/README.md @@ -197,7 +197,7 @@ orientation parallel to y-axis (O=+Y)). from spatialmath import SE3 Tep = SE3.Trans(0.6, -0.3, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1]) -sol = robot.ik_lm_chan(Tep) # solve IK +sol = robot.ik_LM(Tep) # solve IK print(sol) (array([ 0.20592815, 0.86609481, -0.79473206, -1.68254794, 0.74872915, @@ -239,14 +239,14 @@ We can also experiment with velocity controllers in Swift. Here is a resolved-ra ```python import swift -import roboticstoolbox as rp +import roboticstoolbox as rtb import spatialmath as sm import numpy as np env = swift.Swift() env.launch(realtime=True) -panda = rp.models.Panda() +panda = rtb.models.Panda() panda.q = panda.qr Tep = panda.fkine(panda.q) * sm.SE3.Trans(0.2, 0.2, 0.45) @@ -258,7 +258,7 @@ dt = 0.05 while not arrived: - v, arrived = rp.p_servo(panda.fkine(panda.q), Tep, 1) + v, arrived = rtb.p_servo(panda.fkine(panda.q), Tep, 1) panda.qd = np.linalg.pinv(panda.jacobe(panda.q)) @ v env.step(dt) From 2731430dbcc8413ad3a16b3f46f3383cfa689d4c Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sat, 11 May 2024 18:41:06 +1000 Subject: [PATCH 03/10] remove unused scipy dependency missing from latest version --- roboticstoolbox/mobile/EKF.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/roboticstoolbox/mobile/EKF.py b/roboticstoolbox/mobile/EKF.py index 27c7d37ec..bc9129f4c 100644 --- a/roboticstoolbox/mobile/EKF.py +++ b/roboticstoolbox/mobile/EKF.py @@ -3,10 +3,11 @@ @Author: Peter Corke, original MATLAB code and Python version @Author: Kristian Gibson, initial MATLAB port """ + from collections import namedtuple import numpy as np from math import pi -from scipy import integrate, randn +from scipy import integrate from scipy.linalg import sqrtm, block_diag from scipy.stats.distributions import chi2 import matplotlib.pyplot as plt From 35f161e9c7aa624fbde781843fc1495079b1cec8 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sat, 11 May 2024 21:03:35 +1000 Subject: [PATCH 04/10] bump version, attempt to get unit tests running as GH action --- .github/workflows/test.yml | 4 ++-- pyproject.toml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 2fc23db67..2addbcc21 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -13,8 +13,8 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [windows-latest, ubuntu-latest, macos-latest] - python-version: [3.7, 3.8, 3.9, "3.10"] + os: [windows-latest, ubuntu-latest, macos-13] + python-version: [3.7, 3.8, 3.9, "3.10", 3.11, 3.12] steps: - uses: actions/checkout@v2 - name: Set up Python ${{ matrix.python-version }} diff --git a/pyproject.toml b/pyproject.toml index 51e830282..29c7cc339 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -4,7 +4,7 @@ name = "roboticstoolbox-python" description = "A Python library for robotics education and research" -version = "1.1.0" +version = "1.1.1" authors = [ { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" }, @@ -90,7 +90,7 @@ docs = [ "sphinx_rtd_theme", "sphinx-autorun", "sphinx_autodoc_typehints", - "sphinx-favicon" + "sphinx-favicon", ] From 7f1bcae7e17360ea9b30a49731c2c93a219c6a19 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sun, 12 May 2024 07:45:19 +1000 Subject: [PATCH 05/10] temporarily remove macos, default runners are now for M1 --- .github/workflows/test.yml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/.github/workflows/test.yml b/.github/workflows/test.yml index 2addbcc21..0e402dba7 100644 --- a/.github/workflows/test.yml +++ b/.github/workflows/test.yml @@ -13,11 +13,11 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [windows-latest, ubuntu-latest, macos-13] + os: [windows-latest, ubuntu-latest] python-version: [3.7, 3.8, 3.9, "3.10", 3.11, 3.12] steps: - uses: actions/checkout@v2 - - name: Set up Python ${{ matrix.python-version }} + - name: Set up Python ${{ matrix.python-version }} for ${{ matrix.os }} uses: actions/setup-python@v1 with: python-version: ${{ matrix.python-version }} From 81dac7a189accc322d83a47fe944935ef03dd08d Mon Sep 17 00:00:00 2001 From: Jesse Haviland Date: Mon, 29 Jul 2024 14:41:02 +1000 Subject: [PATCH 06/10] Update test_future.yml --- .github/workflows/test_future.yml | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/.github/workflows/test_future.yml b/.github/workflows/test_future.yml index ce8f8b0c6..7471d76f5 100644 --- a/.github/workflows/test_future.yml +++ b/.github/workflows/test_future.yml @@ -10,37 +10,37 @@ jobs: runs-on: ${{ matrix.os }} strategy: matrix: - os: [windows-latest, ubuntu-latest, macos-latest] - python-version: [3.7, 3.8, 3.9, '3.10'] + os: [windows-latest, ubuntu-latest, macos-12] + python-version: [3.8, 3.9, '3.10', '3.11', '3.12'] steps: - name: Set up Python ${{ matrix.python-version }} - uses: actions/setup-python@v1 + uses: actions/setup-python@v5 with: python-version: ${{ matrix.python-version }} - name: Checkout future branch - uses: actions/checkout@v2 + uses: actions/checkout@v4 with: ref: future path: robotics-toolbox-python - name: Checkout Swift - uses: actions/checkout@v2 + uses: actions/checkout@v4 with: ref: future repository: jhavl/swift path: swift - name: Checkout Spatialmath - uses: actions/checkout@v2 + uses: actions/checkout@v4 with: ref: future repository: petercorke/spatialmath-python path: sm - name: Checkout Spatialgeometry - uses: actions/checkout@v2 + uses: actions/checkout@v4 with: ref: future repository: jhavl/spatialgeometry From 29a2a5d2abc6e8c5e13a8d43e811cc9f80d093a9 Mon Sep 17 00:00:00 2001 From: renaudponcelet Date: Wed, 7 Aug 2024 08:14:03 +0200 Subject: [PATCH 07/10] Update PyPlot.py (#403) w_xaxis are deprecated (https://matplotlib.org/stable/api/prev_api_changes/api_changes_3.6.0.html) --- roboticstoolbox/backends/PyPlot/PyPlot.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/roboticstoolbox/backends/PyPlot/PyPlot.py b/roboticstoolbox/backends/PyPlot/PyPlot.py index 055ec0c94..f5149a78f 100644 --- a/roboticstoolbox/backends/PyPlot/PyPlot.py +++ b/roboticstoolbox/backends/PyPlot/PyPlot.py @@ -416,9 +416,9 @@ def getframe(self): ) # make the background white, looks better than grey stipple - self.ax.w_xaxis.set_pane_color((1.0, 1.0, 1.0, 1.0)) - self.ax.w_yaxis.set_pane_color((1.0, 1.0, 1.0, 1.0)) - self.ax.w_zaxis.set_pane_color((1.0, 1.0, 1.0, 1.0)) + self.ax.xaxis.set_pane_color((1.0, 1.0, 1.0, 1.0)) + self.ax.yaxis.set_pane_color((1.0, 1.0, 1.0, 1.0)) + self.ax.zaxis.set_pane_color((1.0, 1.0, 1.0, 1.0)) plt.gcf().canvas.draw() # render the frame and save as a PIL image in the list From b4dbd0a2458625096eadc1a5dd25eb6d748d44b7 Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sat, 10 Aug 2024 11:16:00 +1000 Subject: [PATCH 08/10] Create pull_request_template.md --- .github/pull_request_template.md | 7 +++++++ 1 file changed, 7 insertions(+) create mode 100644 .github/pull_request_template.md diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 000000000..daaf2964c --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,7 @@ +We thank you in advance for your pull request, and for your interest and support of the Robotics Toolbox for Python. +You could help us a lot by: + +* Making your pull request relative to the `future` branch. This is where we fix issues and merge pull requests prior to pushing out a new release. +* Including a reference/link to any related issues. +* Providing clear description of the problem you are addressing with the pull request, and the changes proposed . + From c718251ddf94e398ddb87bdbfe5dc2bbc2f0fada Mon Sep 17 00:00:00 2001 From: Peter Corke Date: Sat, 10 Aug 2024 12:17:04 +1000 Subject: [PATCH 09/10] Update pull_request_template.md add comment about keeping PRs small in size and simple --- .github/pull_request_template.md | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md index daaf2964c..d4b2aa6f5 100644 --- a/.github/pull_request_template.md +++ b/.github/pull_request_template.md @@ -1,7 +1,11 @@ -We thank you in advance for your pull request, and for your interest and support of the Robotics Toolbox for Python. +We thank you in advance for your pull request, and for your interest and support of the Robotics Toolbox for Python. + You could help us a lot by: * Making your pull request relative to the `future` branch. This is where we fix issues and merge pull requests prior to pushing out a new release. * Including a reference/link to any related issues. -* Providing clear description of the problem you are addressing with the pull request, and the changes proposed . +* Providing a clear description of the problem you are addressing with the pull request, the changes proposed, and their rationale. + * We appreciate code comments explaining what your added block of code does. + * If your PR tackles a number of different issues, please submit multiple smaller/simpler PRs that we can individually accept or not. Otherwise we have to ask you to modify your PR and leave some changes out. Unfortunately GH doesn't let us pick and choose. +* Making your PR as small as possible. Don't include test files, data files, or notebooks that are specific to your project; ensure that notebooks, if of general interest, are saved with output values cleared, and that robot models include only those files required. PyPI has strict size limits on packages, and already RTB is split into a toolbox and data package. From 2a8111b10dd09c5ce8b8a94495c84ff27bcb6862 Mon Sep 17 00:00:00 2001 From: Jan Kaniuka <80155305+jkaniuka@users.noreply.github.com> Date: Fri, 16 Aug 2024 01:12:44 +0200 Subject: [PATCH 10/10] updated collision checking example (#382) --- docs/source/intro.rst | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/docs/source/intro.rst b/docs/source/intro.rst index 569f553b9..45fe6d241 100644 --- a/docs/source/intro.rst +++ b/docs/source/intro.rst @@ -661,9 +661,9 @@ whole robots, discrete links, and objects in the world. For example a :math:`1 just one link, of the robot by:: >>> panda = rtb.models.Panda() - >>> obstacle = rtb.Box([1, 1, 1], SE3(1, 0, 0)) - >>> iscollision = panda.collided(obstacle) # boolean - >>> iscollision = panda.links[0].collided(obstacle) + >>> obstacle = Cuboid([1, 1, 1], pose = SE3(1, 0, 0)) + >>> iscollision = panda.iscollided(panda.q, obstacle) # boolean + >>> iscollision = panda.links[0].iscollided(obstacle) Additionally, we can compute the minimum Euclidean distance between whole @@ -777,4 +777,4 @@ References .. [SMTB-P] `Spatial Math Toolbox for Python `_ .. [bdsim] `Block diagram simulator for Python `_ .. [neo] `NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulatorshttps://jhavl.github.io/neo>`_ -.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021. \ No newline at end of file +.. [corke21a] P. Corke and J. Haviland, "Not your grandmother’s toolbox – the Robotics Toolbox reinvented for Python", Proc. ICRA 2021. pFad - Phonifier reborn

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