roboticstoolbox-python 1.3.0__cp313-cp313-win_amd64.whl

roboticstoolbox/bin/rtbtool.py

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+#!/usr/bin/env python3
+
+# a simple Robotics Toolbox "shell", runs Python3 and loads in NumPy, RTB, SMTB
+#
+# Run it from the shell
+#  % rtb.py
+#
+# or setup an alias
+#
+#  alias rtb=PATH/rtb.py   # sh/bash
+#  alias rtb PATH/rtb.py   # csh/tcsh
+#
+# % rtb
+
+# import stuff
+from pygments.token import Token
+from IPython.terminal.prompts import Prompts
+from IPython.terminal.prompts import ClassicPrompts
+from traitlets.config import Config
+import IPython
+import argparse
+from pathlib import Path
+import sys
+import os
+from importlib.metadata import version
+
+try:
+    from colored import fg, bg, attr
+
+    _colored = True
+    # print('using colored output')
+except ImportError:
+    # print('colored not found')
+    _colored = False
+    fg = lambda *args, **kwargs: ""
+    bg = lambda *args, **kwargs: ""
+    attr = lambda *args, **kwargs: ""
+
+# imports for use by IPython and user
+import math
+from math import pi  # lgtm [py/unused-import]
+import numpy as np
+from scipy import linalg, optimize
+import matplotlib.pyplot as plt  # lgtm [py/unused-import]
+import matplotlib as mpl
+
+from spatialmath import *  # lgtm [py/polluting-import]
+from spatialmath.base import *
+import spatialmath.base as smb
+from spatialmath.base import sym
+
+from spatialgeometry import *  # lgtm [py/polluting-import]
+
+from roboticstoolbox import *  # lgtm [py/unused-import]
+
+
+def parse_arguments():
+    parser = argparse.ArgumentParser("Robotics Toolbox shell")
+    parser.add_argument("script", default=None, nargs="?", help="specify script to run")
+    parser.add_argument(
+        "--backend", "-B", default=None, help="specify graphics backend"
+    )
+    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="(rtb) >>> ", help="input prompt")
+    parser.add_argument(
+        "--resultprefix",
+        "-r",
+        default=None,
+        help="execution result prefix, include {} for execution count number",
+    )
+    parser.add_argument(
+        "--reload",
+        default=False,
+        action="store_true",
+        help="enable autoreload of any imported modules, same as IPython's builtin %%autoreload 2",
+    )
+    parser.add_argument(
+        "-b",
+        "--no-banner",
+        dest="banner",
+        default=True,
+        action="store_false",
+        help="suppress startup banner",
+    )
+    parser.add_argument(
+        "--showassign",
+        "-a",
+        default=False,
+        action="store_true",
+        help="display the result of assignments",
+    )
+    parser.add_argument(
+        "--book",
+        default=False,
+        action="store_true",
+        help="use defaults as per RVC book",
+    )
+    parser.add_argument(
+        "--ansi",
+        default=False,
+        action="store_true",
+        help="use ANSImatrix to display matrices",
+    )
+    parser.add_argument(
+        "--examples",
+        "-e",
+        default=False,
+        action="store_true",
+        help="change working directory to shipped examples",
+    )
+    parser.add_argument(
+        "--swift",
+        "-s",
+        default=False,
+        action="store_true",
+        help="use Swift as default backend",
+    )
+    args, rest = parser.parse_known_args()
+
+    # remove the arguments we've just parsed from sys.argv so that IPython can have a
+    # go at them later
+    sys.argv = [sys.argv[0]] + rest
+
+    # TODO more options
+    # color scheme, light/dark
+    # silent startup
+
+    if args.script is not None:
+        args.banner = False
+
+    return args
+
+
+def make_banner():
+    # banner template
+    # https://patorjk.com/software/taag/#p=display&f=Cybermedium&t=Robotics%20Toolbox%0A
+
+    banner = r"""\
+    ____ ____ ___  ____ ___ _ ____ ____    ___ ____ ____ _    ___  ____ _  _
+    |__/ |  | |__] |  |  |  | |    [__      |  |  | |  | |    |__] |  |  \/
+    |  \ |__| |__] |__|  |  | |___ ___]     |  |__| |__| |___ |__] |__| _/\_
+
+    for Python"""
+
+    versions = []
+    versions.append(f"RTB=={version('roboticstoolbox-python')}")
+    versions.append(f"SMTB=={version('spatialmath-python')}")
+    versions.append(f"SG=={version('spatialmath-python')}")
+    versions.append(f"NumPy=={version('numpy')}")
+    versions.append(f"SciPy=={version('scipy')}")
+    versions.append(f"Matplotlib=={version('matplotlib')}")
+
+    # create banner
+    banner += " (" + ", ".join(versions) + ")"
+    banner += r"""
+
+    import math
+    import numpy as np
+    from scipy import linalg, optimize
+    import matplotlib.pyplot as plt
+    from spatialmath import *
+    from spatialmath.base import *
+    from spatialmath.base import sym
+    from roboticstoolbox import *"
+
+    # useful variables
+    from math import pi
+    puma = models.DH.Puma560()
+    panda = models.DH.Panda()
+
+    func/object?       - show brief help
+    help(func/object)  - show detailed help
+    func/object??      - show source code
+
+    """
+
+    return banner
+
+
+def examples_path():
+    # Repository layout: <root>/src/roboticstoolbox/bin/rtbtool.py
+    return Path(__file__).resolve().parents[3] / "examples"
+
+
+def startup():
+    plt.ion()
+
+
+def main():
+
+    args = parse_arguments()
+
+    # setup defaults
+    np.set_printoptions(
+        linewidth=120,
+        formatter={"float": lambda x: f"{0:8.4g}" if abs(x) < 1e-10 else f"{x:8.4g}"},
+    )
+
+    if args.book:
+        # set book options
+        args.resultprefix = ""
+        args.prompt = ">>> "
+        args.showassign = True
+        args.ansi = False
+        args.examples = True
+
+    if args.examples:
+        path = examples_path()
+        if path.exists() and path.is_dir():
+            print(f"Changing working directory to {path}")
+            os.chdir(path)
+        else:
+            print(f"Examples directory not found: {path}")
+
+    # load some robot models after argument handling to avoid import-time side effects
+    puma = models.DH.Puma560()
+    panda = models.DH.Panda()
+
+    # set default backend for Robot.plot
+    if args.swift:
+        Robot.default_backend = "swift"
+
+    # set matrix printing mode for spatialmath
+    SE3._ansimatrix = args.ansi
+
+    # set default matplotlib backend
+    if args.backend is not None:
+        print(f"Using matplotlb backend {args.backend}")
+        mpl.use(args.backend)
+
+    # build the banner, import * packages and their versions
+
+    if args.banner:
+        banner = make_banner()
+        print(fg("yellow") + banner + attr(0))
+
+    if args.showassign and args.banner:
+        print(
+            fg("red")
+            + "Results of assignments will be displayed, use trailing ; to suppress"
+            + attr(0)
+            + "\n"
+        )
+
+    # drop into IPython
+    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 = 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"
+    c.TerminalIPythonApp.force_interact = False
+    # set precision, same as %precision
+    c.PlainTextFormatter.float_precision = "%.3f"
+
+    # set up a script to be executed by IPython when we get there
+    code = None
+    if args.script is not None:
+        path = Path(args.script)
+        if not path.exists():
+            raise ValueError(f"script does not exist: {args.script}")
+        code = path.open("r").readlines()
+    if code is None:
+        code = [
+            "startup()",
+            "%precision %.3g",
+        ]
+    else:
+        code.append("plt.ion()")
+
+    if args.reload:
+        code = ["%load_ext autoreload", "%autoreload 2"] + code
+
+    c.InteractiveShellApp.exec_lines = code
+    namespace = {k: v for k, v in globals().items() if not k.startswith("__")}
+    namespace.update({"puma": puma, "panda": panda})
+    IPython.start_ipython(config=c, user_ns=namespace)
+
+
+if __name__ == "__main__":
+    main()

roboticstoolbox/blocks/README.md

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+# Block library for bdsim
+
+This is a library of robot blocks for the [bdsim](https://github.com/petercorke/bdsim) block
+diagram simulation package.
+
+If you are familiar with Robotics Toolbox for MATLAB, this is somewhat like
+the `roblocks` library.
+
+# Example
+
+This is Figure 8.5 from the book [Robotics, Vision & Control, 2nd edition](https://petercorke.com/rvc/home/)
+and implements resolved-rate motion control.
+
+```python
+from math import pi
+import numpy as np
+from roboticstoolbox.models.DH import Puma560
+import bdsim
+
+bd = bdsim.BlockDiagram()
+
+puma = Puma560()
+q0 = [0, pi/4, pi, 0, pi/4, 0]
+
+# define the blocks
+jacobian = bd.JACOBIAN(robot=puma, frame='0', inverse=True, name='Jacobian')
+velocity = bd.CONSTANT([0, 0.5, 0, 0, 0, 0]) # task-space velocity
+qdot = bd.PROD('**', matrix=True)
+integrator = bd.INTEGRATOR(x0=q0)
+robot = bd.ARMPLOT(robot=puma, q0=q0, name='plot')
+
+# connect the blocks
+bd.connect(jacobian, qdot[0])
+bd.connect(velocity, qdot[1])
+bd.connect(qdot, integrator)
+bd.connect(integrator, jacobian, robot)
+
+bd.compile()   # check the diagram
+bd.report()    # list all blocks and wires
+bd.run(1.5)    # simulate for 1.5s
+
+bd.done()
+```

roboticstoolbox/blocks/__init__.py

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+from .arm import *
+from .mobile import *
+from .uav import *
+from .spatial import *
+
+url = "https://petercorke.github.io/robotics-toolbox-python/" + __package__