roboticstoolbox-python 1.0.3__tar.gz → 1.1.1__tar.gz

{roboticstoolbox-python-1.0.3/roboticstoolbox_python.egg-info → roboticstoolbox_python-1.1.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: roboticstoolbox-python
-Version: 1.0.3
+Version: 1.1.1
 Summary: A Python library for robotics education and research
 Author-email: Jesse Haviland <j.haviland@qut.edu.au>, Peter Corke <rvc@petercorke.com>
 License: MIT License
@@ -39,10 +39,37 @@ Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Requires-Python: >=3.7
 Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: numpy>=1.17.4
+Requires-Dist: spatialmath-python>=1.1.5
+Requires-Dist: spatialgeometry>=1.0.0
+Requires-Dist: pgraph-python
+Requires-Dist: scipy
+Requires-Dist: matplotlib
+Requires-Dist: ansitable
+Requires-Dist: swift-sim>=1.0.0
+Requires-Dist: rtb-data
+Requires-Dist: progress
+Requires-Dist: typing_extensions
 Provides-Extra: collision
+Requires-Dist: pybullet; extra == "collision"
 Provides-Extra: dev
+Requires-Dist: black; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: flake8; extra == "dev"
+Requires-Dist: pyyaml; extra == "dev"
+Requires-Dist: sympy; extra == "dev"
+Requires-Dist: qpsolvers; extra == "dev"
+Requires-Dist: quadprog; extra == "dev"
+Requires-Dist: pybullet; extra == "dev"
+Requires-Dist: bdsim; extra == "dev"
 Provides-Extra: docs
-License-File: LICENSE
+Requires-Dist: sphinx; extra == "docs"
+Requires-Dist: sphinx_rtd_theme; extra == "docs"
+Requires-Dist: sphinx-autorun; extra == "docs"
+Requires-Dist: sphinx_autodoc_typehints; extra == "docs"
+Requires-Dist: sphinx-favicon; extra == "docs"
 
 # Robotics Toolbox for Python
 
@@ -53,12 +80,11 @@ License-File: LICENSE
 [![PyPI version](https://badge.fury.io/py/roboticstoolbox-python.svg)](https://badge.fury.io/py/roboticstoolbox-python)
 [![Anaconda version](https://anaconda.org/conda-forge/roboticstoolbox-python/badges/version.svg)](https://anaconda.org/conda-forge/roboticstoolbox-python)
 ![PyPI - Python Version](https://img.shields.io/pypi/pyversions/roboticstoolbox-python.svg)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
-[![Build Status](https://github.com/petercorke/robotics-toolbox-python/workflows/build/badge.svg?branch=master)](https://github.com/petercorke/robotics-toolbox-python/actions?query=workflow%3Abuild)
+[![Build Status](https://github.com/petercorke/robotics-toolbox-python/workflows/Test/badge.svg?branch=master)](https://github.com/petercorke/robotics-toolbox-python/actions?query=workflow%3ATest)
 [![Coverage](https://codecov.io/gh/petercorke/robotics-toolbox-python/branch/master/graph/badge.svg)](https://codecov.io/gh/petercorke/robotics-toolbox-python)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/petercorke/robotics-toolbox-python.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/petercorke/robotics-toolbox-python/context:python)
 [![PyPI - Downloads](https://img.shields.io/pypi/dw/roboticstoolbox-python)](https://pypistats.org/packages/roboticstoolbox-python)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 <table style="border:0px">
 <tr style="border:0px">
@@ -244,7 +270,7 @@ 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,
@@ -286,14 +312,14 @@ 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)
@@ -305,7 +331,7 @@ 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)
 

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/README.md

@@ -7,12 +7,11 @@
 [![PyPI version](https://badge.fury.io/py/roboticstoolbox-python.svg)](https://badge.fury.io/py/roboticstoolbox-python)
 [![Anaconda version](https://anaconda.org/conda-forge/roboticstoolbox-python/badges/version.svg)](https://anaconda.org/conda-forge/roboticstoolbox-python)
 ![PyPI - Python Version](https://img.shields.io/pypi/pyversions/roboticstoolbox-python.svg)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
-[![Build Status](https://github.com/petercorke/robotics-toolbox-python/workflows/build/badge.svg?branch=master)](https://github.com/petercorke/robotics-toolbox-python/actions?query=workflow%3Abuild)
+[![Build Status](https://github.com/petercorke/robotics-toolbox-python/workflows/Test/badge.svg?branch=master)](https://github.com/petercorke/robotics-toolbox-python/actions?query=workflow%3ATest)
 [![Coverage](https://codecov.io/gh/petercorke/robotics-toolbox-python/branch/master/graph/badge.svg)](https://codecov.io/gh/petercorke/robotics-toolbox-python)
-[![Language grade: Python](https://img.shields.io/lgtm/grade/python/g/petercorke/robotics-toolbox-python.svg?logo=lgtm&logoWidth=18)](https://lgtm.com/projects/g/petercorke/robotics-toolbox-python/context:python)
 [![PyPI - Downloads](https://img.shields.io/pypi/dw/roboticstoolbox-python)](https://pypistats.org/packages/roboticstoolbox-python)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
 <table style="border:0px">
 <tr style="border:0px">
@@ -198,7 +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,
@@ -240,14 +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)
@@ -259,7 +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)
 

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/pyproject.toml

@@ -4,7 +4,7 @@ name = "roboticstoolbox-python"
 
 description = "A Python library for robotics education and research"
 
-version = "1.0.3"
+version = "1.1.1"
 
 authors = [
     { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },
@@ -13,37 +13,52 @@ authors = [
 
 dependencies = [
     "numpy>=1.17.4",
-    "spatialmath-python~=1.0.0",
-    "spatialgeometry~=1.0.0",
+    "spatialmath-python>=1.1.5",
+    "spatialgeometry>=1.0.0",
     "pgraph-python",
     "scipy",
     "matplotlib",
     "ansitable",
-    "swift-sim~=1.0.0",
+    "swift-sim>=1.0.0",
     "rtb-data",
     "progress",
+    "typing_extensions",
 ]
 
-license = {file = "LICENSE"}
+license = { file = "LICENSE" }
 
 readme = "README.md"
 
 requires-python = ">=3.7"
 
-keywords = ["python", "robotics", "robotics-toolbox", "kinematics", "dynamics", "motion-planning", "trajectory-generation", "jacobian", "hessian", "control", "simulation", "robot-manipulator", "mobile-robot"]
+keywords = [
+    "python",
+    "robotics",
+    "robotics-toolbox",
+    "kinematics",
+    "dynamics",
+    "motion-planning",
+    "trajectory-generation",
+    "jacobian",
+    "hessian",
+    "control",
+    "simulation",
+    "robot-manipulator",
+    "mobile-robot",
+]
 
 classifiers = [
-        "Development Status :: 5 - Production/Stable",
-        # Indicate who your project is intended for
-        "Intended Audience :: Developers",
-        # Pick your license as you wish (should match "license" above)
-        "License :: OSI Approved :: MIT License",
-        # Specify the Python versions you support here.
-        "Programming Language :: Python :: 3.7",
-        "Programming Language :: Python :: 3.8",
-        "Programming Language :: Python :: 3.9",
-        "Programming Language :: Python :: 3.10",
-        "Programming Language :: Python :: 3.11",
+    "Development Status :: 5 - Production/Stable",
+    # Indicate who your project is intended for
+    "Intended Audience :: Developers",
+    # Pick your license as you wish (should match "license" above)
+    "License :: OSI Approved :: MIT License",
+    # Specify the Python versions you support here.
+    "Programming Language :: Python :: 3.7",
+    "Programming Language :: Python :: 3.8",
+    "Programming Language :: Python :: 3.9",
+    "Programming Language :: Python :: 3.10",
+    "Programming Language :: Python :: 3.11",
 ]
 
 
@@ -53,12 +68,9 @@ documentation = "https://petercorke.github.io/robotics-toolbox-python/"
 repository = "https://github.com/petercorke/robotics-toolbox-python"
 
 
-
 [project.optional-dependencies]
 
-collision = [
-    "pybullet"
-]
+collision = ["pybullet"]
 
 dev = [
     "black",
@@ -67,40 +79,35 @@ dev = [
     "flake8",
     "pyyaml",
     "sympy",
+    "qpsolvers",
+    "quadprog",
+    "pybullet",
+    "bdsim",
 ]
 
 docs = [
     "sphinx",
     "sphinx_rtd_theme",
-    "sphinx-autorun", 
+    "sphinx-autorun",
+    "sphinx_autodoc_typehints",
+    "sphinx-favicon",
 ]
 
 
-
 [project.scripts]
 
 eigdemo = "roboticstoolbox.examples.eigdemo:main"
 tripleangledemo = "roboticstoolbox.examples.tripleangledemo:main"
 twistdemo = "roboticstoolbox.examples.twistdemo:main"
-
-
-
-# [project.entry-points]
-
-
-
+rtbtool = "roboticstoolbox.bin.rtbtool:main"
 
 
 [build-system]
 
-requires = [
-    "setuptools",
-    "oldest-supported-numpy"
-]
+requires = ["setuptools", "oldest-supported-numpy"]
 build-backend = "setuptools.build_meta"
 
 
-
 [tool.setuptools]
 
 packages = [
@@ -108,10 +115,10 @@ packages = [
     "roboticstoolbox.backends",
     "roboticstoolbox.backends.PyPlot",
     "roboticstoolbox.backends.swift",
-    "roboticstoolbox.backends.VPython",
     "roboticstoolbox.bin",
     "roboticstoolbox.blocks",
     "roboticstoolbox.examples",
+    "roboticstoolbox.bin",
     "roboticstoolbox.robot",
     "roboticstoolbox.mobile",
     "roboticstoolbox.models",
@@ -124,11 +131,12 @@ packages = [
 ]
 
 
-
 [tool.black]
 
 line-length = 88
 target_version = ['py37']
+args = '--experimental-string-processing'
+
 include = '\.pyi?$'
 exclude = '''
 
@@ -151,9 +159,9 @@ exclude = '''
 '''
 
 
-
 [tool.flake8]
 
+ignore = ['F821', 'W503', 'E741']
 max-line-length = 88
 extend-ignore = 'E203'
 
@@ -192,4 +200,5 @@ archs = ["x86_64", "aarch64"]
 archs = ["AMD64", "x86"]
 
 
-
+[tool.coverage.run]
+omit = ["roboticstoolbox/examples/*", "test_*.py"]

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/roboticstoolbox/__init__.py

@@ -13,6 +13,7 @@ __all__ = [
     "backends",
     # robot
     "Robot",
+    "Robot2",
     "SerialLink",
     "DHRobot",
     "Link",
@@ -25,7 +26,6 @@ __all__ = [
     "PoELink",
     "PoEPrismatic",
     "PoERevolute",
-    "ERobot",
     "ELink",
     "ELink2",
     "Link",
@@ -40,6 +40,7 @@ __all__ = [
     # tools
     "null",
     "angle_axis",
+    "angle_axis_python",
     "p_servo",
     "Ticker",
     "quintic",
@@ -94,3 +95,9 @@ __all__ = [
     "EKF",
     "ParticleFilter",
 ]
+
+try:
+    import importlib.metadata
+    __version__ = importlib.metadata.version("roboticstoolbox-python")
+except:
+    pass

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/roboticstoolbox/backends/PyPlot/EllipsePlot.py

@@ -4,6 +4,7 @@
 """
 
 import numpy as np
+
 # import scipy as sp
 from spatialmath import base
 import matplotlib.pyplot as plt
@@ -11,7 +12,6 @@ import matplotlib.pyplot as plt
 
 class ShapePlot:
     def __init__(self, shape, wireframe=True, **kwargs):
-
         self.shape = shape  # reference to the spatialgeom shape
         self.wireframe = wireframe
         self.args = kwargs
@@ -52,8 +52,7 @@ class ShapePlot:
 
 
 class EllipsePlot:
-    def __init__(self, robot, q, etype, opt="trans", centre=[0, 0, 0], scale=1):
-
+    def __init__(self, robot, q, etype, opt="trans", centre=[0, 0, 0], scale=1.0):
         super(EllipsePlot, self).__init__()
 
         try:
@@ -64,7 +63,7 @@ class EllipsePlot:
         except TypeError:
             if centre != "ee":
                 raise ValueError(
-                    "Centre must be a three vector or 'ee' meaning" "end-effector"
+                    "Centre must be a three vector or 'ee' meaningend-effector"
                 )
 
         self.ell = None
@@ -90,7 +89,11 @@ class EllipsePlot:
         self.make_ellipsoid()
 
         if self.ell is not None:
-            self.ax.collections.remove(self.ell)
+            self.ell.remove()
+            # print(type(self.ell))
+            # print(type(self.ax))
+            # assert True == False
+            # self.ax.collections.remove(self.ell)
 
         self.ell = self.ax.plot_wireframe(
             self.x, self.y, self.z, rstride=6, cstride=6, color="#2980b9", alpha=0.2
@@ -180,29 +183,21 @@ class EllipsePlot:
             A = J @ J.T
         elif self.opt == "rot":
             raise ValueError(
-                "Can not do rotational ellipse for a 2d robot plot." " Set opt='trans'"
+                "Can not do rotational ellipse for a 2d robot plot. Set opt='trans'"
             )
 
-        # if not self.vell:
-        #     # Do the extra step for the force ellipse
-        #     try:
-        #         A = np.linalg.inv(A)
-        #     except:
-        #         A = np.zeros((2,2))
+        # velocity ellipsoid is E = A^-1
+        # force ellipsoid is E = A
+        #
+        # rather than compute the inverse we can have base.ellipse()  do it for us
+        # using the inverted argument. For the velocity ellipse we already have the 
+        # inverse of E, it is A, so we set inverted=True.
 
         if isinstance(self.centre, str) and self.centre == "ee":
             centre = self.robot.fkine(self.q).A[:3, -1]
         else:
             centre = self.centre
 
-        # points on unit circle
-        # theta = np.linspace(0.0, 2.0 * np.pi, 50)
-        # y = np.array([np.cos(theta), np.sin(theta)])
-        # RVC2 p 602
-        # x = sp.linalg.sqrtm(A) @ y
-
-        x, y = base.ellipse(A, inverted=True, centre=centre[:2], scale=self.scale)
+        x, y = base.ellipse(A, inverted=self.vell, centre=centre[:2], scale=self.scale)
         self.x = x
         self.y = y
-        # = x[0,:] * self.scale + centre[0]
-        # self.y = x[1,:] * self.scale + centre[1]

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/roboticstoolbox/backends/PyPlot/PyPlot.py

@@ -20,6 +20,7 @@ _pil = None
 try:
     import matplotlib
     import matplotlib.pyplot as plt
+
     # from mpl_toolkits.mplot3d import Axes3D
     from matplotlib.widgets import Slider
 
@@ -77,10 +78,18 @@ class PyPlot(Connector):
             )
 
     def __repr__(self):
-        s = f"PyPlot3D backend, t = {self.sim_time}, scene:"
+        s = ""
         for robot in self.robots:
-            s += f"\n  {robot.robot.name}"
-        return s
+            s += f"  robot: {robot.name}\n"
+        for ellipse in self.ellipses:
+            s += f"  ellipse: {ellipse}\n"
+        for shape in self.shapes:
+            s += f"  shape: {shape}\n"
+
+        if s == "":
+            return f"PyPlot3D backend, t = {self.sim_time}, empty scene"
+        else:
+            return f"PyPlot3D backend, t = {self.sim_time}, scene:\n" + s
 
     def launch(self, name=None, fig=None, limits=None, **kwargs):
         """
@@ -189,7 +198,7 @@ class PyPlot(Connector):
                 pass
             else:  # pragma: no cover
                 raise ValueError(
-                    "Invalid robot.control_type. " "Must be one of 'p', 'v', or 'a'"
+                    "Invalid robot.control_type. Must be one of 'p', 'v', or 'a'"
                 )
 
         # plt.ioff()
@@ -311,7 +320,11 @@ class PyPlot(Connector):
 
         super().add()
 
-        if isinstance(ob, rp.DHRobot) or isinstance(ob, rp.ERobot):
+        if (
+            isinstance(ob, rp.DHRobot)
+            or isinstance(ob, rp.ERobot)
+            or isinstance(ob, rp.Robot)
+        ):
             self.robots.append(
                 RobotPlot(
                     ob,
@@ -345,6 +358,7 @@ class PyPlot(Connector):
         plt.show(block=False)
 
         self._set_axes_equal()
+
         return id
 
     def remove(self, id):

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/roboticstoolbox/backends/PyPlot/PyPlot2.py

@@ -47,10 +47,16 @@ class PyPlot2(Connector):
             )
 
     def __repr__(self):
-        s = f"PyPlot2D backend, t = {self.sim_time}, scene:"
+        s = ""
         for robot in self.robots:
-            s += f"\n  {robot.name}"
-        return s
+            s += f"  robot: {robot.name}\n"
+        for ellipse in self.ellipses:
+            s += f"  ellipse: {ellipse}\n"
+
+        if s == "":
+            return f"PyPlot2D backend, t = {self.sim_time}, empty scene"
+        else:
+            return f"PyPlot2D backend, t = {self.sim_time}, scene:\n" + s
 
     def launch(self, name=None, limits=None, **kwargs):
         """
@@ -62,8 +68,9 @@ class PyPlot2(Connector):
 
         labels = ["X", "Y"]
 
-        if name is not None:
-            self.fig = plt.figure(name)
+        if name is not None and not _isnotebook():
+            # jupyter does weird stuff when figures have the same name
+            self.fig = plt.figure()
         else:
             self.fig = plt.figure()
 
@@ -172,7 +179,7 @@ class PyPlot2(Connector):
 
         super().add()
 
-        if isinstance(ob, rp.ERobot2):
+        if isinstance(ob, rp.Robot2):
             self.robots.append(RobotPlot2(ob, self, readonly, display, eeframe, name))
             self.robots[len(self.robots) - 1].draw()
 
@@ -228,7 +235,7 @@ class PyPlot2(Connector):
             else:  # pragma: no cover
                 # Should be impossible to reach
                 raise ValueError(
-                    "Invalid robot.control_type. " "Must be one of 'p', 'v', or 'a'"
+                    "Invalid robot.control_type. Must be one of 'p', 'v', or 'a'"
                 )
 
     def _update_robots(self):

{roboticstoolbox-python-1.0.3 → roboticstoolbox_python-1.1.1}/roboticstoolbox/backends/PyPlot/RobotPlot.py

@@ -22,7 +22,6 @@ class RobotPlot:
         name=True,
         options=None,
     ):
-
         super(RobotPlot, self).__init__()
 
         # Readonly - True for this robot is for displaying only
@@ -129,7 +128,7 @@ class RobotPlot:
 
             # add new ee coordinate frame
             for link in self.robot.ee_links:
-                Te = T[link.number]
+                Te = T[link.number] * self.robot.tool
 
                 # ee axes arrows
                 Tex = Te * Tjx
@@ -156,11 +155,15 @@ class RobotPlot:
         if self.jointaxes:
             # Plot joint z coordinates
             for link in self.robot:
-
                 direction = None
                 if isinstance(self.robot, rp.DHRobot):
                     # should test MDH I think
-                    Tj = T[link.number - 1]
+
+                    if self.robot.mdh:
+                        Tj = T[link.number]
+                    else:
+                        Tj = T[link.number - 1]
+
                     R = Tj.R
                     direction = R[:, 2]  # z direction
                 elif link.isjoint:
@@ -178,7 +181,6 @@ class RobotPlot:
                     self.joints.extend(arrow)
 
     def init(self):
-
         self.drawn = True
 
         if self.env.limits is None:
@@ -203,7 +205,6 @@ class RobotPlot:
         self.links = []
         self.sh_links = []
         for i in range(len(self.segments)):
-
             # Plot the shadow of the robot links, draw first so robot is always
             # in front
             if self.shadow:

roboticstoolbox_python-1.1.1/roboticstoolbox/backends/PyPlot/test1.py

@@ -0,0 +1,46 @@
+import matplotlib.pyplot as plt
+import spatialgeometry
+from roboticstoolbox.backends.PyPlot import PyPlot
+from spatialmath import SE3
+
+env = PyPlot()
+env.launch()
+
+# box = spatialgeometry.Box(sides=[0.02,]*3)
+# print(box)
+# env.add(box)
+
+# for i in range(1000):
+#     box.base = SE3(i / 1000, i / 1000, i / 500) * SE3.Rx(6 * i / 500)
+#     env.step()
+
+sph = spatialgeometry.Sphere(radius=0.05)
+print(sph)
+env.add(sph)
+
+for i in range(1000):
+    sph.base = SE3(i / 1000, i / 1000, i / 500) * SE3.Rx(6 * i / 500)
+    env.step()
+
+# env.hold()
+
+
+# from mpl_toolkits.mplot3d import Axes3D
+# import matplotlib.pyplot as plt
+# import numpy as np
+# from itertools import product, combinations
+# from numpy import sin, cos
+# from matplotlib.patches import Rectangle, Circle, PathPatch
+# import mpl_toolkits.mplot3d.art3d as art3d
+# from mpl_toolkits.mplot3d.art3d import Poly3DCollection
+# from spatialmath.base import *
+# fig = plt.figure()
+# ax = fig.gca(projection='3d')
+# ax.set_aspect("auto")
+# ax.set_autoscale_on(True)
+
+
+# plot_box3d(sides=[0.2, 0.3, 0.4], wireframe=True, linewidth=1, color='r')
+# # plot_box3d(sides=[0.2, 0.3, 0.4], wireframe=False, facecolors='none', linewidths=1, edgecolors='r', alpha=.25)
+
+# plt.show(block=True)

roboticstoolbox_python-1.1.1/roboticstoolbox/backends/PyPlot/test2.py

@@ -0,0 +1,10 @@
+from roboticstoolbox import *
+
+# puma = models.ETS.Panda()
+# print(puma)
+
+# puma.plot(puma.qr, block=True)
+
+a1 = 1
+e = ET2.R() * ET2.tx(a1)
+e.plot(0, block=True)