Merge branch 'master' of github.com:petercorke/robotics-toolbox-python

Author: jhavl

README.md

@@ -110,8 +110,8 @@ orientation parallel to y-axis (O=+Y)).
 from spatialmath import SE3
 
 T = SE3(0.8, 0.2, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
-sol = robot.ikine_unc(T)         # solve IK
-print(sol.q)                    # display joint angles
+sol = robot.ikine_min(T)         # solve IK
+print(sol.q)                     # display joint angles
 
 	[-0.01044    7.876    1.557    -6.81    1.571    4.686   0.5169]
 

examples/plot.py

@@ -16,8 +16,13 @@
 q = np.random.rand(100, 7)
 
 # Plot the joint trajectory with a 50ms delay between configurations
-# panda.plot(q=q, backend='pyplot', dt=0.050, vellipse=True, fellipse=True)
-panda.plot(q=q, backend='pyplot', dt=0.050, vellipse=False, fellipse=False)
+panda.plot(q=q, backend='pyplot', dt=0.050, vellipse=True, fellipse=True)
+# panda.plot(q=q, backend='swift', dt=0.050, vellipse=False, fellipse=False)
+
+# panda.plot(q=panda.qz, backend='swift')
+
+# print(panda.qr)
+# print(panda.fkine(q=panda.qz))
 
 # r = rp.models.ETS.GenericSeven()
 

examples/rtb.py

@@ -31,13 +31,23 @@
     help='specify script to run')
 parser.add_argument('--backend', '-b', default=None,
     help='specify graphics frontend')
+parser.add_argument('--color', '-c', default='neutral',
+    help='specify terminal color scheme (neutral, lightbg, nocolor, linux), linux is for dark mode')
+parser.add_argument('--confirmexit', '-x', default=False,
+    help='confirm exit')
+parser.add_argument('--prompt', '-p', default='>>> ',
+    help='input prompt')
+parser.add_argument('--resultprefix', '-r', default=None,
+    help='execution result prefix, include {} for execution count number')
+parser.add_argument('--showassign', '-a', default=False,
+    help='display the result of assignments')
 args = parser.parse_args()
 
 if args.backend is not None:
     print(f"Using matplotlub backend {args.backend}")
     plt.use(args.backend)
 
-# load some models
+# load some robot models
 puma = models.DH.Puma560()
 panda = models.DH.Panda()
 
@@ -68,12 +78,32 @@
 ## drop into IPython
 import IPython
 from traitlets.config import Config
+from IPython.terminal.prompts import ClassicPrompts
+from IPython.terminal.prompts import Prompts
+from pygments.token import Token
+
+class MyPrompt(Prompts):
+    def in_prompt_tokens(self, cli=None):
+        return [(Token.Prompt, args.prompt)]
+    def out_prompt_tokens(self, cli=None):
+        if args.resultprefix is None:
+            # traditional behaviour
+            return [
+                (Token.OutPrompt, 'Out['),
+                (Token.OutPromptNum, str(self.shell.execution_count)),
+                (Token.OutPrompt, ']: '),
+        ]
+        else:
+            return [(Token.Prompt, args.resultprefix.format(self.shell.execution_count))]
 
 # set configuration options, there are lots, see
 # https://ipython.readthedocs.io/en/stable/config/options/terminal.html
 c = Config()
-c.InteractiveShellEmbed.colors = "Linux"
-c.InteractiveShell.colors = 'Neutral'
-c.InteractiveShell.confirm_exit = False
+c.InteractiveShellEmbed.colors = args.color
+c.InteractiveShell.confirm_exit = args.confirmexit
+# c.InteractiveShell.prompts_class = ClassicPrompts
+c.InteractiveShell.prompts_class = MyPrompt
+if args.showassign:
+    c.InteractiveShell.ast_node_interactivity = 'last_expr_or_assign'
 
 IPython.embed(config=c)

roboticstoolbox/backends/ROS/ROS.py

@@ -101,7 +101,6 @@ def hold(self):
     def add(
             self, ob):
         """
-
         """
 
         super().add()

roboticstoolbox/models/list.py

@@ -34,50 +34,57 @@ def list(keywords=None, dof=None, mtype=None):
     # module = importlib.import_module(
     #   '.' + os.path.splitext(file)[0], package='bdsim.blocks')
 
-    table = ANSITable(
-        Column("class", headalign="^", colalign="<"),
-        Column("model", headalign="^", colalign="<"),
-        Column("manufacturer", headalign="^", colalign="<"),
-        Column("model type", headalign="^", colalign="<"),
-        Column("DoF", colalign="<"),
-        Column("config", colalign="<"),
-        Column("keywords", headalign="^", colalign="<"),
-        border="thin"
-    )
-
-    if mtype is not None:
-        categories = [mtype]
-    else:
-        categories = ['DH', 'URDF', 'ETS']
-    for category in categories:
-        group = m.__dict__[category]
-        for cls in group.__dict__.values():
-            if isinstance(cls, type) and issubclass(cls, Robot):
-                # we found a Robot subclass, instantiate it
-                robot = cls()
-                try:
-                    config = robot.config()
-                except Exception:   # pragma nocover
-                    config = ""
-
-                # apply filters
-                if keywords is not None:
-                    if len(set(keywords) & set(robot.keywords)) == 0:
-                        continue
-                if dof is not None and robot.n != dof:
-                    continue     # pragma nocover
-
-                # add the row
-                table.row(
-                    cls.__name__,
-                    robot.name,
-                    robot.manufacturer,
-                    category,
-                    robot.n,
-                    config,
-                    ', '.join(robot.keywords)
-                )
-    print(str(table).encode('utf8', errors='replace').decode('utf8'))
+    def make_table(border):
+        table = ANSITable(
+            Column("class", headalign="^", colalign="<"),
+            Column("model", headalign="^", colalign="<"),
+            Column("manufacturer", headalign="^", colalign="<"),
+            Column("model type", headalign="^", colalign="<"),
+            Column("DoF", colalign="<"),
+            Column("config", colalign="<"),
+            Column("keywords", headalign="^", colalign="<"),
+            border=border
+        )
+
+        if mtype is not None:
+            categories = [mtype]
+        else:
+            categories = ['DH', 'URDF', 'ETS']
+        for category in categories:
+            group = m.__dict__[category]
+            for cls in group.__dict__.values():
+                if isinstance(cls, type) and issubclass(cls, Robot):
+                    # we found a Robot subclass, instantiate it
+                    robot = cls()
+                    try:
+                        config = robot.config()
+                    except Exception:   # pragma nocover
+                        config = ""
+
+                    # apply filters
+                    if keywords is not None:
+                        if len(set(keywords) & set(robot.keywords)) == 0:
+                            continue
+                    if dof is not None and robot.n != dof:
+                        continue     # pragma nocover
+
+                    # add the row
+                    table.row(
+                        cls.__name__,
+                        robot.name,
+                        robot.manufacturer,
+                        category,
+                        robot.n,
+                        config,
+                        ', '.join(robot.keywords)
+                    )
+
+        print(str(table))
+
+    try:
+        make_table('thin')
+    except UnicodeEncodeError:
+        make_table('ascii')
 
 
 if __name__ == "__main__":   # pragma nocover