roboticstoolbox-python 1.3.0__cp312-cp312-win_amd64.whl

roboticstoolbox_python-1.3.0.dist-info/WHEEL

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+Wheel-Version: 1.0
+Generator: scikit-build-core 0.12.2
+Root-Is-Purelib: false
+Tag: cp312-cp312-win_amd64
+

roboticstoolbox_python-1.3.0.dist-info/entry_points.txt

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+[console_scripts]
+eigdemo = roboticstoolbox.examples.eigdemo:main
+tripleangledemo = roboticstoolbox.examples.tripleangledemo:main
+twistdemo = roboticstoolbox.examples.twistdemo:main
+rtbtool = roboticstoolbox.bin.rtbtool:main
+

roboticstoolbox_python-1.3.0.dist-info/licenses/LICENSE

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+MIT License
+
+Copyright (c) 2020 jhavl
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

spatialgeometry/__init__.py

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+from spatialgeometry.geom import (
+    SceneNode,
+    SceneGroup,
+    Shape,
+    Axes,
+    Arrow,
+    CollisionShape,
+    Mesh,
+    Cylinder,
+    Cuboid,
+    Box,
+    Sphere)
+
+from spatialgeometry import tools
+
+
+__all__ = [
+    # aliased
+    "tools",
+    # geom
+    "Shape",
+    "CollisionShape",
+    "Mesh",
+    "Cylinder",
+    "Cuboid",
+    "Box",
+    "Sphere",
+    "Axes",
+    "Arrow",
+    "SceneNode",
+    "SceneGroup",
+]

spatialgeometry/geom/CollisionShape.py

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+#!/usr/bin/env python
+"""
+@author: Jesse Haviland
+"""
+
+import numpy as np
+from io import StringIO
+from spatialmath.base import r2q
+from spatialmath.base.argcheck import getvector
+from spatialmath import SE3
+from spatialgeometry.geom import Shape
+from spatialgeometry.geom.Shape import update
+import os
+import copy
+from warnings import warn
+
+from typing import Tuple, Union
+
+p = None
+_pyb = None
+
+
+def _import_pyb():
+    import importlib
+
+    global _pyb
+    global p
+
+    try:
+        from spatialgeometry.tools.stdout_supress import pipes
+    except Exception:  # pragma nocover
+        from contextlib import contextmanager
+
+        @contextmanager  # type: ignore
+        def pipes(stdout=None, stderr=None):
+            pass
+
+    try:
+        out = StringIO()
+        try:
+            with pipes(stdout=out, stderr=None):
+                p = importlib.import_module("pybullet")
+        except Exception:  # pragma nocover
+            p = importlib.import_module("pybullet")
+
+        cid = p.connect(p.SHARED_MEMORY)
+        if cid < 0:
+            p.connect(p.DIRECT)
+        _pyb = True
+    except ImportError:  # pragma nocover
+        _pyb = False
+
+
+class CollisionShape(Shape):
+    def __init__(self, collision=True, **kwargs):
+        self.co = None
+        self.pinit = False
+        super().__init__(**kwargs)
+        self._collision = collision
+
+    # def __copy__(self):
+    #     """
+    #     Copy of CollisionShape object
+
+    #     :return: Shallow copy of CollisionShape object
+    #     :rtype: CollisionShape
+    #     """
+    #     print("HELLO")
+    #     # new = copy.copy(super())
+    #     # for k, v in self.__dict__.items():
+    #     #     if k.startswith("_") and isinstance(v, np.ndarray):
+    #     #         setattr(new, k, np.copy(v))
+
+    def _update_pyb(self):
+        if _pyb and self.co is not None:
+            p.resetBasePositionAndOrientation(self.co, self._wT[:3, 3], self._wq)  # type: ignore
+
+    def _s_init_pob(self, col):
+        self.co = p.createMultiBody(  # type: ignore
+            baseMass=1, baseInertialFramePosition=[0, 0, 0], baseCollisionShapeIndex=col
+        )
+        self.pinit = True
+
+    def _init_pob(self):  # pragma nocover
+        pass
+
+    def _check_pyb(self):
+        if _pyb is None:
+            _import_pyb()
+
+    def closest_point(
+        self, shape: "CollisionShape", inf_dist: float = 1.0
+    ) -> Tuple[Union[float, None], Union[np.ndarray, None], Union[np.ndarray, None]]:
+        """
+        closest_point(shape, inf_dist) returns the minimum euclidean
+        distance between self and shape, provided it is less than inf_dist.
+        It will also return the points on self and shape in the world frame
+        which connect the line of length distance between the shapes. If the
+        distance is negative then the shapes are collided.
+
+        :param shape: The shape to compare distance to
+        :type shape: Shape
+        :param inf_dist: The minimum distance within which to consider
+            the shape
+        :type inf_dist: float
+        :returns: d, p1, p2 where d is the distance between the shapes,
+            p1 and p2 are the points in the world frame on the respective
+            shapes. The points returned are [x, y, z].
+        :rtype: float, ndarray(1x3), ndarray(1x3)
+        """
+
+        self._check_pyb()
+
+        if not _pyb:  # pragma nocover
+            raise ImportError(
+                "The package PyBullet is required for collision "
+                "functionality. Install using pip install pybullet"
+            )
+
+        if not self.pinit:
+            self._init_pob()
+            self._update_pyb()
+
+        self._update_pyb()
+
+        if not shape.pinit:
+            shape._init_pob()
+            shape._update_pyb()
+
+        ret = p.getClosestPoints(self.co, shape.co, inf_dist)  # type: ignore
+
+        try:
+            return ret[0][8], np.array(ret[0][5]), np.array(ret[0][6])
+        except ValueError:
+            return None, None, None
+        except IndexError:
+            # Obstacle is further away than inf_dist
+            return None, None, None
+
+    def iscollided(self, shape) -> bool:
+        """
+        iscollided(shape) checks if self and shape have collided
+
+        :param shape: The shape to compare distance to
+        :type shape: Shape
+        :returns: True if shapes have collided
+        :rtype: bool
+        """
+
+        d, _, _ = self.closest_point(shape)
+
+        if d is not None and d <= 0:
+            return True
+        else:
+            return False
+
+    def collided(self, shape):
+        """
+        collided(shape) checks if self and shape have collided
+
+        :param shape: The shape to compare distance to
+        :type shape: Shape
+        :returns: True if shapes have collided
+        :rtype: bool
+        """
+        warn("collided is deprecated, use iscollided instead", FutureWarning)
+        return self.iscollided(shape)
+
+
+class Mesh(CollisionShape):
+    """
+    A mesh object described by an stl or collada file.
+
+    :param filename: The path to the mesh that contains this object.
+        This is the absolute path.
+    :type filename: str
+    :param scale: The scaling value for the mesh along the XYZ axes. If
+        ``None``, assumes no scale is applied.
+    :type scale: list (3) float, optional
+    :param base: Local reference frame of the shape
+    :type base: SE3
+    :param collision: This shape is being used as a collision object
+    :type collision: bool
+
+    """
+
+    def __init__(self, filename=None, scale=[1, 1, 1], **kwargs):
+        super(Mesh, self).__init__(stype="mesh", **kwargs)
+
+        self.filename = filename
+        self.scale = scale
+
+    def _init_pob(self):
+        name, file_extension = os.path.splitext(self.filename)
+        if (file_extension == ".stl" or file_extension == ".STL") and self.collision:
+
+            col = p.createCollisionShape(  # type: ignore
+                shapeType=p.GEOM_MESH, fileName=self.filename, meshScale=self.scale  # type: ignore
+            )
+
+            super()._s_init_pob(col)
+        else:
+            raise ValueError(
+                "This shape has self.collision=False meaning it "
+                "is not to be used as a collision object"
+            )
+
+    @property
+    def scale(self) -> np.ndarray:
+        return self._scale
+
+    @scale.setter
+    @update
+    def scale(self, value):
+        if value is not None:
+            value = getvector(value, 3)
+        else:
+            value = getvector([1, 1, 1], 3)
+        self._scale = np.array(value)
+
+    @property
+    def filename(self):
+        return self._filename
+
+    @filename.setter
+    @update
+    def filename(self, value):
+        self._filename = value
+
+    def to_dict(self):
+        """
+        to_dict() returns the shapes information in dictionary form
+
+        :returns: All information about the shape
+        :rtype: dict
+        """
+
+        shape = super().to_dict()
+        shape["filename"] = self.filename
+        shape["scale"] = self.scale.tolist()
+        return shape
+
+
+class Cylinder(CollisionShape):
+    """A cylinder whose center is at the local origin.
+    Parameters
+
+    :param radius: The radius of the cylinder in meters.
+    :type radius: float
+    :param length: The length of the cylinder in meters.
+    :type length: float
+    :param base: Local reference frame of the shape
+    :type base: SE3
+    :param collision: This shape is being used as a collision object
+    :type collision: bool
+
+    """
+
+    def __init__(self, radius, length, **kwargs):
+        super(Cylinder, self).__init__(stype="cylinder", **kwargs)
+        self.radius = radius
+        self.length = length
+
+    def _init_pob(self):
+        if self.collision:
+            col = p.createCollisionShape(  # type: ignore
+                shapeType=p.GEOM_CYLINDER, radius=self.radius, height=self.length  # type: ignore
+            )
+
+            super()._s_init_pob(col)
+        else:
+            raise ValueError(
+                "This shape has self.collision=False meaning it "
+                "is not to be used as a collision object"
+            )
+
+    @property
+    def radius(self):
+        return self._radius
+
+    @radius.setter
+    @update
+    def radius(self, value):
+        self._radius = float(value)
+
+    @property
+    def length(self):
+        return self._length
+
+    @length.setter
+    @update
+    def length(self, value):
+        self._length = float(value)
+
+    def to_dict(self):
+        """
+        to_dict() returns the shapes information in dictionary form
+
+        :returns: All information about the shape
+        :rtype: dict
+        """
+
+        shape = super().to_dict()
+        shape["radius"] = self.radius
+        shape["length"] = self.length
+        return shape
+
+
+class Sphere(CollisionShape):
+    """
+    A sphere whose center is at the local origin.
+
+    :param radius: The radius of the sphere in meters.
+    :type radius: float
+    :param base: Local reference frame of the shape
+    :type base: SE3
+    :param collision: This shape is being used as a collision object
+    :type collision: bool
+
+    """
+
+    def __init__(self, radius, **kwargs):
+        super(Sphere, self).__init__(stype="sphere", **kwargs)
+        self.radius = radius
+
+    def _init_pob(self):
+        if self.collision:
+            col = p.createCollisionShape(shapeType=p.GEOM_SPHERE, radius=self.radius)  # type: ignore
+
+            super()._s_init_pob(col)
+        else:
+            raise ValueError(
+                "This shape has self.collision=False meaning it "
+                "is not to be used as a collision object"
+            )
+
+    @property
+    def radius(self):
+        return self._radius
+
+    @radius.setter
+    @update
+    def radius(self, value):
+        self._radius = float(value)
+
+    def to_dict(self):
+        """
+        to_dict() returns the shapes information in dictionary form
+
+        :returns: All information about the shape
+        :rtype: dict
+        """
+
+        shape = super().to_dict()
+        shape["radius"] = self.radius
+        return shape
+
+
+class Cuboid(CollisionShape):
+    """
+    A rectangular prism whose center is at the local origin.
+
+    :param scale: The length, width, and height of the cuboid in meters.
+    :type scale: list (3) float
+    :param base: Local reference frame of the shape
+    :type base: SE3
+    :param collision: This shape is being used as a collision object
+    :type collision: bool
+
+    """
+
+    def __init__(self, scale, **kwargs):
+        super(Cuboid, self).__init__(stype="cuboid", **kwargs)
+        self.scale = scale
+
+    def _init_pob(self):
+
+        if self.collision:
+            col = p.createCollisionShape(  # type: ignore
+                shapeType=p.GEOM_BOX, halfExtents=np.array(self.scale) / 2  # type: ignore
+            )
+
+            super()._s_init_pob(col)
+        else:
+            raise ValueError(
+                "This shape has self.collision=False meaning it "
+                "is not to be used as a collision object"
+            )
+
+    @property
+    def scale(self) -> np.ndarray:
+        return self._scale
+
+    @scale.setter
+    @update
+    def scale(self, value):
+        if value is not None:
+            value = getvector(value, 3)
+        else:
+            value = getvector([1, 1, 1], 3)
+        self._scale = np.array(value)
+
+    def to_dict(self):
+        """
+        to_dict() returns the shapes information in dictionary form
+
+        :returns: All information about the shape
+        :rtype: dict
+        """
+
+        shape = super().to_dict()
+        shape["scale"] = self.scale.tolist()
+        return shape
+
+
+class Box(Cuboid):
+    def __init__(self, scale, **kwargs):
+        warn("Box is deprecated, use Cuboid instead", FutureWarning)
+        super().__init__(scale, **kwargs)

spatialgeometry/geom/SceneGroup.py

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+#!/usr/bin/env python
+"""
+@author: Jesse Haviland
+"""
+
+from numpy import ndarray, eye, zeros, copy as npcopy
+from spatialmath.base import r2q
+from abc import ABC
+from collections import UserList
+
+# from roboticstoolbox.robot.ETS import ETS
+from typing import Type
+
+from spatialgeometry.geom.SceneNode import SceneNode
+
+
+class SceneGroup(SceneNode, UserList):
+    def __init__(self, **kwargs):
+        super().__init__(**kwargs)
+
+    def __getitem__(self, i: int) -> SceneNode:
+        return self._scene_children[i]
+
+    @property
+    def data(self):
+        return self._scene_children