roboticstoolbox-python 1.3.0__tar.gz → 1.4.0__tar.gz

roboticstoolbox_python-1.4.0/.github/.release-please-manifest.json

@@ -0,0 +1,3 @@
+{
+    ".": "1.4.0"
+}

roboticstoolbox_python-1.4.0/.github/ISSUE_TEMPLATE/bug_report.yml

@@ -0,0 +1,50 @@
+name: Bug report
+description: Report unexpected behavior or a crash
+title: "[Bug]: "
+labels: ["bug"]
+body:
+  - type: input
+    id: version
+    attributes:
+      label: RTB version
+      description: >-
+        Output of `pip show roboticstoolbox-python`. If you think this is
+        related to Swift (3D visualizer) or Spatial Maths, also include
+        `pip show swift-sim` / `pip show spatialmath-python`.
+      placeholder: "e.g. 1.3.0"
+    validations:
+      required: true
+  - type: input
+    id: python-version
+    attributes:
+      label: Python version
+      placeholder: "e.g. 3.12.4"
+    validations:
+      required: true
+  - type: dropdown
+    id: os
+    attributes:
+      label: Operating system
+      options: [Linux, macOS, Windows, Other]
+    validations:
+      required: true
+  - type: textarea
+    id: expected
+    attributes:
+      label: Expected behavior
+    validations:
+      required: true
+  - type: textarea
+    id: actual
+    attributes:
+      label: Actual behavior
+    validations:
+      required: true
+  - type: textarea
+    id: repro
+    attributes:
+      label: Minimal reproducible example
+      description: A short, self-contained code snippet that reproduces the issue
+      render: python
+    validations:
+      required: true

roboticstoolbox_python-1.4.0/.github/ISSUE_TEMPLATE/config.yml

@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: FAQ / Common issues
+    url: https://github.com/petercorke/robotics-toolbox-python/wiki/FAQ
+    about: Check here first — your issue may already have a known fix or workaround.
+  - name: Ask a question
+    url: https://github.com/petercorke/robotics-toolbox-python/discussions
+    about: For general questions, ideas, and discussion — not a good fit for the two forms above.

roboticstoolbox_python-1.4.0/.github/ISSUE_TEMPLATE/feature_request.yml

@@ -0,0 +1,37 @@
+name: Feature request
+description: Suggest a new feature or enhancement
+title: "[Feature]: "
+labels: ["enhancement"]
+body:
+  - type: textarea
+    id: problem
+    attributes:
+      label: What problem are you trying to solve?
+    validations:
+      required: true
+  - type: textarea
+    id: proposal
+    attributes:
+      label: Proposed solution
+      description: >-
+        What would the RTB function/method look like? Include its
+        signature — parameter names and types, and the return
+        value(s) and type(s).
+      placeholder: |
+        def new_method(self, threshold: float, mode: Literal["a", "b"] = "a") -> NDArray:
+            ...
+    validations:
+      required: false
+  - type: textarea
+    id: alternatives
+    attributes:
+      label: Alternatives considered
+      description: >-
+        Any existing RTB function that's close, a workaround you're
+        currently using, or another API shape you considered and why
+        it didn't fit. Leave blank if none.
+      placeholder: |
+        e.g. "Currently chaining robot.fkine(...) then manual transform
+        composition — works but takes 3 extra steps."
+    validations:
+      required: false

roboticstoolbox_python-1.4.0/.github/pull_request_template.md

@@ -0,0 +1,23 @@
+Thanks for contributing to RTB!
+
+## Summary
+
+<!-- What does this PR do, and why? -->
+
+## Related issue
+
+<!-- Fixes #123 / Closes #123 — if applicable -->
+
+## Checklist
+
+Only the first item below is checked automatically — the rest are a self-check for you before requesting review, nothing currently verifies them for you.
+
+- [ ] PR title follows [Conventional Commits](https://www.conventionalcommits.org/) (`type: description`) — checked automatically, see the "Check PR title" status
+- [ ] Tests pass locally (`pytest`)
+- [ ] Added/updated tests for this change, if applicable
+- [ ] New/changed code is type-hinted with modern syntax (`X | Y`, `list[X]`, not `Union`/`Optional`/`List`)
+- [ ] Docstrings updated (reST style: `:param:`, `:returns:`; type hints in the signature cover types now, `:type:`/`:rtype:` are rarely needed)
+- [ ] PR is as small/focused as practical — if it tackles several unrelated things, consider splitting it so each can be reviewed and accepted independently
+- [ ] No test files, data files, or notebooks specific to your own project — PyPI has strict package size limits, and RTB is already split into a toolbox and a data package. Notebooks, if of general interest, should have output cleared before committing.
+
+<!-- Target branch is `main`. -->

roboticstoolbox_python-1.4.0/.github/workflows/ci.yml

@@ -0,0 +1,293 @@
+# Run tests, coverage, and build docs across all supported platforms
+# Triggers on pushes/PRs to main.
+
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
+  MPLBACKEND: Agg
+  QT_QPA_PLATFORM: offscreen
+
+jobs:
+  test-core:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install package (core, no swift)
+        run: pip install .[dev]
+
+      # Model tests (YuMi, Valkyrie, ...) load URDFs via the robot_descriptions
+      # package, which does NOT bundle the actual asset data -- on first use of
+      # a given model it lazily `git clone`s a large upstream asset repo
+      # straight into this cache dir. That clone is real network I/O and can
+      # be slow or occasionally flaky (timeout) on a cold runner. Caching the
+      # directory means only the first run after this lands pays that cost.
+      # Keyed by python-version too (not just OS) -- see the "Removed:
+      # robot_descriptions CI caching" tech-debt entry (git history,
+      # tech-debt.md as of commit f46b5c83^) for why a previous attempt at
+      # this (PR #530) didn't actually help: an OS-only key can't distinguish
+      # between the os x python-version matrix's parallel jobs. Bump "v2" to
+      # force a clean re-fetch if the cache ever ends up corrupted/stale.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-3.12
+
+      - name: Verify compiled extensions built
+        # Catches a silent build/import regression for _fknm_c/_frne_c --
+        # without this, tests/test_fknm_fallback.py's C-vs-Python
+        # cross-validation tests would just skip (they're gated on
+        # _C_AVAILABLE precisely so a missing extension can't masquerade as
+        # a passing comparison), and nothing else would notice.
+        shell: bash
+        run: |
+          python -c '
+          from roboticstoolbox.ets.fknm import _C_AVAILABLE as fknm_c
+          from roboticstoolbox.robot.frne import _C_AVAILABLE as frne_c
+          assert fknm_c and frne_c, f"compiled extension missing: fknm={fknm_c} frne={frne_c}"
+          print("OK: both _fknm_c and _frne_c built")
+          '
+
+      - name: Test (core)
+        run: pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
+
+  test:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        os: [ubuntu-latest, windows-latest, macos-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13", "3.14"]
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: ${{ matrix.python-version }}
+          cache: pip
+
+      - name: Shorten TEMP path (Windows — avoids MAX_PATH breach during C++ compile)
+        if: runner.os == 'Windows'
+        run: |
+          New-Item -ItemType Directory -Force -Path C:\T | Out-Null
+          "TEMP=C:\T" >> $env:GITHUB_ENV
+          "TMP=C:\T"  >> $env:GITHUB_ENV
+
+      - name: Install package
+        run: pip install .[dev,swift]
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # same reasoning, this job hits the same lazily-cloned model data.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-${{ matrix.python-version }}
+
+      - name: Verify compiled extensions built
+        # See the same step in test-core for why this matters.
+        shell: bash
+        run: |
+          python -c '
+          from roboticstoolbox.ets.fknm import _C_AVAILABLE as fknm_c
+          from roboticstoolbox.robot.frne import _C_AVAILABLE as frne_c
+          assert fknm_c and frne_c, f"compiled extension missing: fknm={fknm_c} frne={frne_c}"
+          print("OK: both _fknm_c and _frne_c built")
+          '
+
+      - name: Test
+        run: pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
+
+  all-tests-passed:
+    name: All tests passed
+    needs: [test-core, test]
+    runs-on: ubuntu-latest
+    if: always()
+    steps:
+      - name: Check test job results
+        run: |
+          if [ "${{ needs.test-core.result }}" != "success" ] || [ "${{ needs.test.result }}" != "success" ]; then
+            echo "test-core: ${{ needs.test-core.result }}, test: ${{ needs.test.result }}"
+            exit 1
+          fi
+
+  coverage:
+    needs: [test-core, test]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install package
+        run: pip install .[dev,swift]
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # same reasoning, this job hits the same lazily-cloned model data.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-3.12
+
+      - name: Run coverage
+        run: pytest tests/ --ignore=tests/test_blocks.py --cov=src/roboticstoolbox --cov-report=xml:coverage.xml -q
+
+      - uses: codecov/codecov-action@v7
+        with:
+          files: ./coverage.xml
+
+  docs-build:
+    needs: [test-core, test]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install docs dependencies
+        run: |
+          pip install .[docs]
+          pip install sympy
+          sudo apt-get install -y graphviz
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # intro.rst's YuMi runblock example loads via robot_descriptions too.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v4
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ runner.os }}-3.12
+
+      - name: Build docs
+        # TODO: add -W once warning count reaches zero
+        run: |
+          cd docs && make SPHINXOPTS="--keep-going" html
+          touch build/html/.nojekyll
+
+      - name: Fetch pyodide wheel for JupyterLite
+        # A plain `pip wheel`/`build` here would produce a native
+        # macOS/Linux wheel with the compiled _fknm_c/_frne_c extensions --
+        # useless in Pyodide (WASM). release.yml already cross-compiles a
+        # genuine wasm32 wheel via cibuildwheel (CIBW_PLATFORM=pyodide) and
+        # attaches it to each GitHub Release (PyPI rejects the pyodide_*
+        # platform tag), so reuse that rather than rebuilding here. This
+        # means the "Try it Now" experience tracks the latest release, not
+        # bleeding-edge main -- deliberate, since a full Pyodide/Emscripten
+        # rebuild on every docs push would be slow.
+        #
+        # STOPGAP (see https://github.com/petercorke/robotics-toolbox-python/issues/579):
+        # only fetch the cp312 wheel, matching
+        # jupyterlite-pyodide-kernel==0.6.1 below. A release can carry wasm
+        # wheels for more than one CPython version (cibuildwheel's pyodide
+        # platform builds one per supported interpreter), and
+        # jupyterlite-pyodide-kernel's all.json generator keys entries by
+        # (name, version) and *overwrites* rather than accumulates, so
+        # fetching more than one wheel for the same package+version
+        # silently drops all but the alphabetically-last from the piplite
+        # index -- no build error, just a runtime "can't find a pure
+        # Python 3 wheel" in the browser. Confirmed still present in
+        # jupyterlite_pyodide_kernel 0.7.1 (latest as of 2026-07-21), not
+        # just 0.6.1 -- an upstream bug to route around, not a version to
+        # bump past. Intended to be removed once the pure-Python wasm
+        # wheel work lands and this whole fetch step goes away.
+        env:
+          GH_TOKEN: ${{ github.token }}
+        run: |
+          mkdir -p docs/lite/pypi
+          gh release download --repo "$GITHUB_REPOSITORY" --pattern '*cp312*pyodide*' --dir docs/lite/pypi --clobber
+
+      - name: Sync notebooks into JupyterLite content
+        # Copies *.ipynb plus any local asset directories (e.g.
+        # docs/notebooks/figs/, referenced by relative path from markdown
+        # cells) -- but not the Makefile-generated *.py script conversions
+        # or other loose files. ik_benchmark.ipynb is excluded deliberately:
+        # it benchmarks numeric IK solver performance and uses the
+        # websocket-based Swift visualizer, neither of which is meaningful
+        # or functional inside the Pyodide sandbox -- it stays Colab-only.
+        run: |
+          mkdir -p docs/lite/files
+          rsync -a --exclude '.ipynb_checkpoints' --exclude '__pycache__' \
+            --exclude 'Untitled*.ipynb' --exclude '*.py' --exclude 'Makefile' \
+            --exclude 'ik_benchmark.ipynb' \
+            docs/notebooks/ docs/lite/files/
+
+      - name: Adapt staged notebooks for JupyterLite
+        run: |
+          python - <<'PY'
+          import json
+          from pathlib import Path
+
+          root = Path("docs/lite/files")
+          for nb_path in root.rglob("*.ipynb"):
+              with nb_path.open("r", encoding="utf-8") as f:
+                  nb = json.load(f)
+
+              meta = nb.setdefault("metadata", {})
+              meta["kernelspec"] = {
+                  "name": "python",
+                  "display_name": "Python (Pyodide)",
+                  "language": "python",
+              }
+              meta.setdefault("language_info", {})
+              meta["language_info"]["name"] = "python"
+
+              with nb_path.open("w", encoding="utf-8") as f:
+                  json.dump(nb, f, indent=1)
+                  f.write("\n")
+          PY
+
+      - name: Build JupyterLite site
+        # jupyterlite-pyodide-kernel is pinned deliberately: newer versions
+        # bundle a newer Pyodide runtime than the cp312 wasm wheel attached
+        # to releases targets, which manifests as a silent hang in the
+        # browser (no error, just a kernel that never responds) rather than
+        # a build-time failure. See toolbox-infrastructure.md for the full
+        # version-skew story before bumping this.
+        run: |
+          pip install jupyterlite-core "jupyterlite-pyodide-kernel==0.6.1" jupyter-server
+          cd docs/lite && jupyter lite build --output-dir ../build/html/lite
+
+      - name: Upload Pages artifact
+        uses: actions/upload-pages-artifact@v5
+        with:
+          path: docs/build/html
+
+  # Separate job so the github-pages environment (and its deployment
+  # protection rules restricting it to main) is only ever touched on main —
+  # a job-level `environment:` triggers a deployment attempt as soon as the
+  # job starts, regardless of any step-level `if:`, so PR/dependabot runs
+  # would otherwise show a false "failed to deploy to github-pages".
+  docs-deploy:
+    needs: docs-build
+    if: github.ref == 'refs/heads/main'
+    runs-on: ubuntu-latest
+    permissions:
+      pages: write
+      id-token: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deploy.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deploy
+        uses: actions/deploy-pages@v5

{roboticstoolbox_python-1.3.0 → roboticstoolbox_python-1.4.0}/.github/workflows/commitlint.yml

@@ -11,7 +11,7 @@ jobs:
     # Dependabot and release-please manage their own titles — skip them.
     if: ${{ github.actor != 'dependabot[bot]' && github.actor != 'github-actions[bot]' }}
     steps:
-      - uses: amannn/action-semantic-pull-request@v5
+      - uses: amannn/action-semantic-pull-request@v6
         env:
           GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
         with:

{roboticstoolbox_python-1.3.0 → roboticstoolbox_python-1.4.0}/.github/workflows/release-please.yml

@@ -12,7 +12,7 @@ jobs:
   release-please:
     runs-on: ubuntu-latest
     steps:
-      - uses: googleapis/release-please-action@v4
+      - uses: googleapis/release-please-action@v5
         with:
-          config-file: release-please-config.json
-          manifest-file: .release-please-manifest.json
+          config-file: .github/release-please-config.json
+          manifest-file: .github/.release-please-manifest.json

roboticstoolbox_python-1.4.0/.github/workflows/release-rtb-data.yml

@@ -0,0 +1,92 @@
+# Build and publish the rtb-data package (robot model/mesh data files).
+# Separate from release.yml (roboticstoolbox-python) since rtb-data is an
+# independently-versioned PyPI project, published infrequently — only when
+# rtb-data/ actually changes.
+#
+# Triggered by pushing a tag matching rtb-data-v* (e.g. rtb-data-v2.0.0), or
+# manually via workflow_dispatch. Uses OIDC trusted publishing — no stored
+# PyPI token required (trusted publisher must be registered on PyPI for the
+# rtb-data project: workflow release-rtb-data.yml, environment pypi).
+
+name: Release rtb-data
+
+on:
+  push:
+    tags:
+      - "rtb-data-v*"
+  workflow_dispatch:
+
+env:
+  FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
+
+jobs:
+  verify_version:
+    name: Verify tag matches rtb-data package version
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+      - name: Check version
+        # Skip check on manual workflow_dispatch runs (no tag exists)
+        if: github.event_name == 'push'
+        run: |
+          TAG="${GITHUB_REF_NAME#rtb-data-v}"
+          PKG=$(python3 -c "import tomllib; print(tomllib.load(open('rtb-data/pyproject.toml','rb'))['project']['version'])")
+          echo "Tag version : $TAG"
+          echo "Package version: $PKG"
+          [ "$TAG" = "$PKG" ] || { echo "ERROR: tag rtb-data-v$TAG does not match rtb-data/pyproject.toml version $PKG"; exit 1; }
+
+  build:
+    name: Build rtb-data sdist and wheel
+    needs: verify_version
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+
+      - name: Build
+        run: |
+          pip install build
+          python -m build --outdir dist rtb-data
+
+      - uses: actions/upload-artifact@v7
+        with:
+          name: rtb-data-dist
+          path: dist/*
+
+  smoke_test:
+    name: Smoke-test wheel install
+    needs: build
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+
+      - uses: actions/download-artifact@v8
+        with:
+          name: rtb-data-dist
+          path: dist
+
+      - name: Install and check
+        run: |
+          pip install dist/*.whl
+          python -c "import rtbdata, os; d = os.path.dirname(rtbdata.__file__); print('OK', d); assert os.path.isdir(os.path.join(d, 'xacro', 'qut_frankie_description')); assert os.path.isdir(os.path.join(d, 'xacro', 'unimation_puma560_description'))"
+
+  upload_pypi:
+    needs: smoke_test
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write # required for OIDC trusted publishing
+    steps:
+      - uses: actions/download-artifact@v8
+        with:
+          name: rtb-data-dist
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip_existing: true

{roboticstoolbox_python-1.3.0 → roboticstoolbox_python-1.4.0}/.github/workflows/release.yml

@@ -21,7 +21,7 @@ jobs:
     name: Verify tag matches package version
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
       - name: Check version
         # Skip check on manual workflow_dispatch runs (no release tag exists)
         if: github.event_name == 'release'
@@ -49,10 +49,10 @@ jobs:
             arch: arm64
 
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
 
       - name: Build wheels
-        uses: pypa/cibuildwheel@v3.4.1
+        uses: pypa/cibuildwheel@v4.1.1
 
       - uses: actions/upload-artifact@v7
         with:
@@ -65,7 +65,7 @@ jobs:
     runs-on: ubuntu-latest
     continue-on-error: true
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
 
       - name: Diagnostics
         run: |
@@ -75,7 +75,7 @@ jobs:
           echo "PYODIDE_VERSION=${{ vars.PYODIDE_VERSION || '0.27.5' }}"
 
       - name: Build Pyodide wheel
-        uses: pypa/cibuildwheel@v3.4.1
+        uses: pypa/cibuildwheel@v4.1.1
         env:
           CIBW_PLATFORM: pyodide
 
@@ -90,7 +90,7 @@ jobs:
     needs: verify_version
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v6
+      - uses: actions/checkout@v7
 
       - name: Build sdist
         run: pipx run build --sdist
@@ -105,11 +105,11 @@ jobs:
     needs: build_wheels
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/setup-python@v6
+      - uses: actions/setup-python@v7
         with:
           python-version: "3.12"
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           pattern: wheels-ubuntu-latest-*
           merge-multiple: true
@@ -128,13 +128,13 @@ jobs:
     permissions:
       id-token: write   # required for OIDC trusted publishing
     steps:
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           pattern: wheels-*
           merge-multiple: true
           path: dist
 
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           name: sdist
           path: dist
@@ -156,13 +156,13 @@ jobs:
     permissions:
       contents: write
     steps:
-      - uses: actions/download-artifact@v4
+      - uses: actions/download-artifact@v8
         with:
           name: wheels-pyodide
           path: pyodide-dist
 
       - name: Upload Pyodide wheel as release asset
-        uses: softprops/action-gh-release@v2
+        uses: softprops/action-gh-release@v3
         with:
           tag_name: ${{ github.ref_name }}
           files: pyodide-dist/*.whl

{roboticstoolbox_python-1.3.0 → roboticstoolbox_python-1.4.0}/.gitignore

@@ -1,5 +1,9 @@
 .DS_Store
 
+# Scratch/local-only files not meant to be tracked, relocated here in bulk
+# 2026-08-16 rather than committed piecemeal or left cluttering repo root.
+/UNTRACKED/
+
 .pyodide*/**
 *.doctree
 

roboticstoolbox_python-1.4.0/AGENTS.md

@@ -0,0 +1,24 @@
+# robotics-toolbox-python — Agent Instructions
+
+Part of the RVC ecosystem. **Read [rvc-ecosystem/AGENTS.md](https://github.com/petercorke/rvc-ecosystem/blob/main/AGENTS.md) first** — it defines shared conventions: repo ownership, math invariants, dependency boundaries, git/PR workflow, code standards, tech-debt tracking. This file only adds what's specific to this repo.
+
+| | |
+|---|---|
+| PyPI package | `roboticstoolbox-python` |
+| Nickname | RTB |
+| Owner | Peter Corke (`petercorke`) |
+| Default branch | `main` |
+| Contribution model | Branch → PR; direct push to `main` at Peter's discretion |
+
+## Notes specific to this repo
+
+- Compiles `nanobind` C++ extensions via `scikit-build-core`, not Hatch — this is the
+  permanent, justified exception noted in the ecosystem `AGENTS.md` build-tooling section.
+- Depends on `spatialgeometry` directly (required); `swift` is an optional extra
+  (`pip install roboticstoolbox-python[swift]`), not a stepping-stone to reach `spatialgeometry`.
+- Uses `spatialmath` classes (`SE3`, `SO3`, `UnitQuaternion`, etc.) for all pose math — do not
+  re-implement transform mathematics here.
+- Tech-debt tracked as GitHub Issues labelled `tech-debt` (migrated 2026-08-09). The backlog
+  was large enough that closely-related entries were clustered into parent issues with
+  checklists rather than a flat 1:1 mapping — follow that pattern if filing a cluster of
+  related findings rather than one issue each.