roboticstoolbox-python 1.4.0__py3-none-any.whl

roboticstoolbox_python-1.4.0.dist-info/METADATA

@@ -0,0 +1,664 @@
+Metadata-Version: 2.2
+Name: roboticstoolbox-python
+Version: 1.4.0
+Summary: A Python library for robotics education and research
+Keywords: python,robotics,robotics-toolbox,kinematics,dynamics,motion-planning,trajectory-generation,jacobian,hessian,control,simulation,robot-manipulator,mobile-robot
+Author-Email: Jesse Haviland <j.haviland@qut.edu.au>, Peter Corke <rvc@petercorke.com>
+License: 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.
+         
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Project-URL: homepage, https://petercorke.github.io/robotics-toolbox-python/
+Project-URL: documentation, https://petercorke.github.io/robotics-toolbox-python/
+Project-URL: repository, https://github.com/petercorke/robotics-toolbox-python
+Requires-Python: >=3.10
+Requires-Dist: numpy
+Requires-Dist: spatialmath-python>=1.1.16
+Requires-Dist: spatialgeometry>=1.4.0
+Requires-Dist: pgraph-python
+Requires-Dist: scipy
+Requires-Dist: matplotlib
+Requires-Dist: ansitable
+Requires-Dist: rtb-data>=2.0
+Requires-Dist: progress
+Requires-Dist: typing_extensions
+Requires-Dist: colored>2.0.0
+Requires-Dist: xacrodoc
+Requires-Dist: robot_descriptions<3.0,>=2.0
+Provides-Extra: swift
+Requires-Dist: swift-sim>=2.0.0; extra == "swift"
+Requires-Dist: websockets; extra == "swift"
+Provides-Extra: collision
+Requires-Dist: coal; sys_platform != "win32" and extra == "collision"
+Requires-Dist: trimesh; extra == "collision"
+Provides-Extra: qp
+Requires-Dist: qpsolvers; extra == "qp"
+Requires-Dist: quadprog; extra == "qp"
+Provides-Extra: tool
+Requires-Dist: ipython; extra == "tool"
+Requires-Dist: pygments; extra == "tool"
+Provides-Extra: all
+Requires-Dist: swift-sim>=2.0.0; extra == "all"
+Requires-Dist: websockets; extra == "all"
+Requires-Dist: qpsolvers; extra == "all"
+Requires-Dist: quadprog; extra == "all"
+Requires-Dist: coal; sys_platform != "win32" and extra == "all"
+Requires-Dist: trimesh; extra == "all"
+Requires-Dist: ipython; extra == "all"
+Requires-Dist: pygments; extra == "all"
+Provides-Extra: dev
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: pytest-timeout; extra == "dev"
+Requires-Dist: pyyaml; extra == "dev"
+Requires-Dist: sympy; extra == "dev"
+Requires-Dist: qpsolvers; extra == "dev"
+Requires-Dist: quadprog; extra == "dev"
+Requires-Dist: bdsim; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: coal; sys_platform != "win32" and extra == "dev"
+Requires-Dist: trimesh; extra == "dev"
+Requires-Dist: nbmake; extra == "dev"
+Provides-Extra: nb
+Requires-Dist: nbmake; extra == "nb"
+Provides-Extra: docs
+Requires-Dist: sphinx; extra == "docs"
+Requires-Dist: sphinx_rtd_theme; extra == "docs"
+Requires-Dist: sphinx-pyrunblock; extra == "docs"
+Requires-Dist: sphinx_autodoc_typehints; extra == "docs"
+Requires-Dist: sphinx-favicon; extra == "docs"
+Requires-Dist: sphinxcontrib-bibtex; extra == "docs"
+Requires-Dist: sphinx-copybutton; extra == "docs"
+Requires-Dist: sphinx-codeautolink; extra == "docs"
+Description-Content-Type: text/markdown
+
+# Robotics Toolbox for Python
+
+<div align="center">
+  <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/RobToolBox_RoundLogoB.png" width="390">
+  <br>
+  <em>Robotics without the cruft</em>
+  <br>
+  <strong>A high-productivity framework for robotics research and education.</strong>
+  <br><br>
+
+[![JupyterLite](https://img.shields.io/badge/Try_it_Now-JupyterLite-orange?style=for-the-badge&logo=jupyter)](https://petercorke.github.io/robotics-toolbox-python/lite/lab?path=robotics.ipynb)
+  [![PyPI version](https://img.shields.io/pypi/v/roboticstoolbox-python?style=for-the-badge&color=blue)](https://pypi.org/project/roboticstoolbox-python/)
+  [![Documentation](https://img.shields.io/badge/Docs-View_Online-blue?style=for-the-badge)](https://petercorke.github.io/robotics-toolbox-python)
+
+  <p>
+    <a href="https://github.com/petercorke/robotics-toolbox-python">GitHub</a> •
+    <a href="https://github.com/petercorke/robotics-toolbox-python/wiki">Wiki</a> •
+    <a href="https://github.com/petercorke/robotics-toolbox-python/blob/main/CHANGELOG.md">Changelog</a> •
+    <a href="#getting-going">Installation</a>
+  </p>
+</div>
+
+---
+
+### Status & Project Health
+
+[![Build Status](https://github.com/petercorke/robotics-toolbox-python/actions/workflows/ci.yml/badge.svg?branch=main)](https://github.com/petercorke/robotics-toolbox-python/actions/workflows/ci.yml)
+[![Downloads](https://static.pepy.tech/badge/roboticstoolbox-python/month)](https://pepy.tech/projects/roboticstoolbox-python)
+![PyPI - Python Version](https://img.shields.io/pypi/pyversions/roboticstoolbox-python.svg)
+[![codecov](https://codecov.io/gh/petercorke/robotics-toolbox-python/graph/badge.svg?token=0rqN39PDEO)](https://codecov.io/gh/petercorke/robotics-toolbox-python)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+### Ecosystem & Dependencies
+
+[![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+[![QUT Centre for Robotics Open Source](https://github.com/qcr/qcr.github.io/raw/master/misc/badge.svg)](https://qcr.github.io)
+
+[![powered by NumPy](https://img.shields.io/badge/powered_by-NumPy-013243?logo=numpy&logoColor=white)](https://numpy.org)
+[![powered by SciPy](https://img.shields.io/badge/powered_by-SciPy-0054a6?logo=scipy&logoColor=white)](https://scipy.org)
+[![powered by Matplotlib](https://img.shields.io/badge/powered_by-Matplotlib-11557c?logo=matplotlib&logoColor=white)](https://matplotlib.org)
+[![Powered by Spatial Maths](https://raw.githubusercontent.com/petercorke/spatialmath-python/master/.github/svg/sm_powered.min.svg)](https://github.com/petercorke/spatialmath-python)
+
+<!-- <br> -->
+
+## Contents
+
+<!-- Kept as a manual list deliberately: this file is also PyPI's project
+     description (see pyproject.toml's `readme`), which has no native
+     table-of-contents widget the way GitHub does. Keep in sync with the
+     headings below when adding/renaming a section. -->
+
+- [Synopsis](#synopsis)
+- [Getting going](#getting-going)
+- [Tutorials](#tutorials)
+- [Code Examples](#code-examples)
+- [Toolbox Research Applications](#toolbox-research-applications)
+- [References](#references)
+- [Using the Toolbox in your Open Source Code?](#using-the-toolbox-in-your-open-source-code)
+- [Common Issues and Solutions](#common-issues-and-solutions)
+- [Build a JupyterLite/Pyodide Wasm wheel](#build-a-jupyterlitepyodide-wasm-wheel)
+
+<br>
+
+## Synopsis
+
+This toolbox brings robotics-specific functionality to Python, and leverages
+Python's advantages of portability, ubiquity and support, and the capability of
+the open-source ecosystem for linear algebra (numpy, scipy), graphics
+(matplotlib, three.js, WebGL), interactive development (Jupyter, JupyterLab,
+mybinder.org), and documentation (sphinx).
+
+The Toolbox provides tools for representing the kinematics and dynamics of
+serial-link manipulators - you can easily create your own in Denavit-Hartenberg
+form, import a URDF file, or use over 50 supplied models for well-known
+contemporary robots from Franka-Emika, Kinova, Universal Robotics, Rethink as
+well as classical robots such as the Puma 560 and the Stanford arm.
+
+The Toolbox contains fast implementations of kinematic operations. The forward
+kinematics and the manipulator Jacobian can be computed in less than 1 microsecond
+while numerical inverse kinematics can be solved in as little as 4 microseconds.
+
+The toolbox also supports mobile robots with functions for robot motion models
+(unicycle, bicycle), path planning algorithms (bug, distance transform, D\*,
+PRM), kinodynamic planning (lattice, RRT), localization (EKF, particle filter),
+map building (EKF) and simultaneous localization and mapping (EKF).
+
+The Toolbox provides:
+
+- code that is mature and provides a point of comparison for other
+  implementations of the same algorithms;
+- routines which are generally written in a straightforward manner which
+  allows for easy understanding, perhaps at the expense of computational
+  efficiency;
+- source code which can be read for learning and teaching;
+- backward compatability with the Robotics Toolbox for MATLAB
+
+The Toolbox leverages the [Spatial Maths Toolbox for Python](https://github.com/petercorke/spatialmath-python) to
+provide support for data types such as SO(n) and SE(n) matrices, quaternions, twists and spatial vectors.
+
+<br>
+
+## Getting going
+
+You will need Python >= 3.10
+
+### Using pip
+
+Install a snapshot from PyPI
+
+```shell script
+pip install roboticstoolbox-python
+```
+
+Available options are:
+
+- `swift` install [Swift](https://github.com/jhavl/swift), a web-based visualizer
+- `qp` install quadratic-programming IK dependencies (`qpsolvers`, `quadprog`)
+- `collision` install collision checking with [coal](https://github.com/coal-library/coal) and `trimesh`
+- `tool` install `IPython` and `pygments`, needed to run the `rtbtool` interactive shell
+- `all` install `swift`, `qp`, `collision`, and `tool`
+
+> **Windows note:** `coal` does not publish Windows wheels on PyPI, so the
+> `collision`/`all` extras skip it there and collision checking is
+> unavailable via `pip` on Windows. It's available via
+> `conda install -c conda-forge coal-python` if needed. Everything else in
+> the Toolbox works normally.
+
+Put the options in a comma separated list like
+
+```shell script
+pip install roboticstoolbox-python[optionlist]
+```
+
+If you want the Swift visualizer, install the `swift` extra.
+
+Install matrix:
+
+- Core only
+
+```shell script
+pip install roboticstoolbox-python
+```
+
+- Swift visualizer only
+
+```shell script
+pip install roboticstoolbox-python[swift]
+```
+
+- QP solver dependencies only
+
+```shell script
+pip install roboticstoolbox-python[qp]
+```
+
+- Collision checking dependencies only
+
+```shell script
+pip install roboticstoolbox-python[collision]
+```
+
+- `rtbtool` interactive shell dependencies only
+
+```shell script
+pip install roboticstoolbox-python[tool]
+```
+
+- Everything (swift + qp + collision + tool)
+
+```shell script
+pip install roboticstoolbox-python[all]
+```
+
+- Multiple extras explicitly
+
+```shell script
+pip install roboticstoolbox-python[swift,qp,collision]
+```
+
+### From GitHub
+
+To install the bleeding-edge version from GitHub
+
+```shell script
+git clone https://github.com/petercorke/robotics-toolbox-python.git
+cd robotics-toolbox-python
+pip install -e .
+```
+
+To generate a Wasm wheel that will run in the browser see the [instructions here](#build-a-jupyterlitepyodide-wasm-wheel).
+
+
+## Tutorials
+
+<table style="border:0px">
+<tr style="border:0px">
+<td style="border:0px"><a href="https://bit.ly/3ak5GDi"><img src="https://github.com/jhavl/dkt/raw/main/img/article1.png" width="400"></a></td>
+<td style="border:0px"><a href="https://bit.ly/3ak5GDi"><img src="https://github.com/jhavl/dkt/raw/main/img/article2.png" width="400"></a></td>
+<td style="border:0px">
+Do you want to learn about manipulator kinematics, differential kinematics, inverse-kinematics and motion control? Have a look at our
+<a href="https://bit.ly/3ak5GDi">tutorial</a>.
+This tutorial comes with two articles to cover the theory and 12 Jupyter Notebooks providing full code implementations and examples. Most of the Notebooks are also Google Colab compatible allowing them to run online.
+</td>
+</tr>
+</table>
+
+<br>
+
+## Code Examples
+
+We will load a model of the Franka-Emika Panda robot defined by a URDF file
+
+```python
+import roboticstoolbox as rtb
+robot = rtb.models.Panda()
+print(robot)
+
+	ERobot: panda (by Franka Emika), 7 joints (RRRRRRR), 1 gripper, geometry, collision
+	┌─────┬──────────────┬───────┬─────────────┬────────────────────────────────────────────────┐
+	│link │     link     │ joint │   parent    │              ETS: parent to link               │
+	├─────┼──────────────┼───────┼─────────────┼────────────────────────────────────────────────┤
+	│   0 │ panda_link0  │       │ BASE        │                                                │
+	│   1 │ panda_link1  │     0 │ panda_link0 │ SE3(0, 0, 0.333) ⊕ Rz(q0)                      │
+	│   2 │ panda_link2  │     1 │ panda_link1 │ SE3(-90°, -0°, 0°) ⊕ Rz(q1)                    │
+	│   3 │ panda_link3  │     2 │ panda_link2 │ SE3(0, -0.316, 0; 90°, -0°, 0°) ⊕ Rz(q2)       │
+	│   4 │ panda_link4  │     3 │ panda_link3 │ SE3(0.0825, 0, 0; 90°, -0°, 0°) ⊕ Rz(q3)       │
+	│   5 │ panda_link5  │     4 │ panda_link4 │ SE3(-0.0825, 0.384, 0; -90°, -0°, 0°) ⊕ Rz(q4) │
+	│   6 │ panda_link6  │     5 │ panda_link5 │ SE3(90°, -0°, 0°) ⊕ Rz(q5)                     │
+	│   7 │ panda_link7  │     6 │ panda_link6 │ SE3(0.088, 0, 0; 90°, -0°, 0°) ⊕ Rz(q6)        │
+	│   8 │ @panda_link8 │       │ panda_link7 │ SE3(0, 0, 0.107)                               │
+	└─────┴──────────────┴───────┴─────────────┴────────────────────────────────────────────────┘
+
+	┌─────┬─────┬────────┬─────┬───────┬─────┬───────┬──────┐
+	│name │ q0  │ q1     │ q2  │ q3    │ q4  │ q5    │ q6   │
+	├─────┼─────┼────────┼─────┼───────┼─────┼───────┼──────┤
+	│  qr │  0° │ -17.2° │  0° │ -126° │  0° │  115° │  45° │
+	│  qz │  0° │  0°    │  0° │  0°   │  0° │  0°   │  0°  │
+	└─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘
+```
+
+The symbol `@` indicates the link as an end-effector, a leaf node in the rigid-body
+tree (Python prompts are not shown to make it easy to copy+paste the code, console output is indented).
+We will compute the forward kinematics next
+
+```
+Te = robot.fkine(robot.qr)  # forward kinematics
+print(Te)
+
+	0.995     0         0.09983   0.484
+	0        -1         0         0
+	0.09983   0        -0.995     0.4126
+	0         0         0         1
+```
+
+We can solve inverse kinematics very easily. We first choose an SE(3) pose
+defined in terms of position and orientation (end-effector z-axis down (A=-Z) and finger
+orientation parallel to y-axis (O=+Y)).
+
+```python
+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(Tep)         # solve IK
+print(sol)
+
+	(array([ 0.20592815,  0.86609481, -0.79473206, -1.68254794,  0.74872915,
+			2.21764746, -0.10255606]), 1, 114, 7, 2.890164057230228e-07)
+
+q_pickup = sol[0]
+print(robot.fkine(q_pickup))    # FK shows that desired end-effector pose was achieved
+
+	 1         -8.913e-05  -0.0003334  0.5996
+	-8.929e-05 -1          -0.0004912 -0.2998
+	-0.0003334  0.0004912  -1          0.1001
+	 0          0           0          1
+```
+
+We can animate a path from the ready pose `qr` configuration to this pickup configuration
+
+```python
+qt = rtb.jtraj(robot.qr, q_pickup, 50)
+robot.plot(qt.q, backend='pyplot', movie='panda1.gif')
+```
+
+<p align="center">
+	<img src="./docs/figs/panda1.gif">
+</p>
+
+where we have specified the matplotlib `pyplot` backend. Blue arrows show the joint axes and the coloured frame shows the end-effector pose.
+
+We can also plot the trajectory in the Swift simulator (a browser-based 3d-simulation environment built to work with the Toolbox)
+
+```python
+robot.plot(qt.q)
+```
+
+<p align="center">
+	<img src="./docs/figs/panda2.gif">
+</p>
+
+We can also experiment with velocity controllers in Swift. Here is a resolved-rate motion control example
+
+```python
+import swift
+import roboticstoolbox as rtb
+import spatialmath as sm
+import numpy as np
+
+env = swift.Swift()
+env.launch(realtime=True)
+
+panda = rtb.models.Panda()
+handle = env.add(panda)
+handle.q = panda.qr
+
+Tep = panda.fkine(handle.q) * sm.SE3.Trans(0.2, 0.2, 0.45)
+
+arrived = False
+
+dt = 0.05
+
+while not arrived:
+
+    v, arrived = rtb.p_servo(panda.fkine(handle.q), Tep, 1)
+    handle.qd = np.linalg.pinv(panda.jacobe(handle.q)) @ v
+    env.step(dt)
+
+# Uncomment to stop the browser tab from closing
+# env.hold()
+```
+
+`env.add(panda)` returns a handle owning this instance's live joint state --
+drive the simulation via `handle.q`/`handle.qd`, not `panda.q`/`panda.qd`
+directly. `panda` itself stays a plain, shareable kinematic model, so the
+same `panda` object can back several independent handles/instances at once.
+
+<p align="center">
+	<img src="./docs/figs/panda3.gif">
+</p>
+
+### Loading models from robot_descriptions
+
+The Panda example above uses one of the ~50 models shipped with the Toolbox, but many more
+robots are available on demand via the [robot_descriptions](https://github.com/robot-descriptions/robot_descriptions.py)
+package, which is installed automatically as a dependency. Passing a bare name (no file suffix)
+to `URDFRobot` fetches and loads it from there:
+
+```python
+from roboticstoolbox.models.URDF.URDFRobot import URDFRobot
+ur5 = URDFRobot("ur5")
+```
+
+`rtb.models.catalog()` lists everything available — the models built into the Toolbox as well
+as those it can load from `robot_descriptions` — with filtering by keyword/DoF/model type and
+column sorting:
+
+```python
+rtb.models.catalog(mtype="URDF", sorton="name")
+```
+
+### Run some examples
+
+The [`notebooks`](https://github.com/petercorke/robotics-toolbox-python/tree/main/notebooks) folder contains some tutorial Jupyter notebooks which you can browse on GitHub. Additionally, have a look in the [`examples`](https://github.com/petercorke/robotics-toolbox-python/tree/main/roboticstoolbox/examples) folder for many ready to run examples.
+
+<br>
+
+## References
+
+### Key papers
+
+- P. Corke, "A computer tool for simulation and analysis: the Robotics Toolbox for MATLAB," Proc. National Conf. Australian Robot Association, pp. 319–330, Melbourne, July 1995. [[PDF]](http://www.petercorke.com/RTB/ARA95.pdf)
+- P. Corke, "A robotics toolbox for MATLAB," IEEE Robotics and Automation Magazine, 3(1):24–32, Sept. 1996. [[IEEE Xplore]](https://ieeexplore.ieee.org/document/486658)
+- P. Corke, "A simple and systematic approach to assigning Denavit-Hartenberg parameters," IEEE Transactions on Robotics, 23(3):590–594, 2007. [[IEEE Xplore]](https://ieeexplore.ieee.org/document/4252158) — introduces the Elementary Transform Sequence (ETS) notation used throughout the Toolbox.
+- J. Haviland and P. Corke, "A systematic approach to computing the manipulator Jacobian and Hessian using the elementary transform sequence," arXiv preprint, 2020. [[arXiv]](https://arxiv.org/abs/2010.08696)
+- P. Corke and J. Haviland, "Not your grandmother's toolbox – the Robotics Toolbox reinvented for Python," Proc. ICRA 2021. [[IEEE Xplore]](https://ieeexplore.ieee.org/document/9561366) [[PDF]](https://bit.ly/3ChcyNp)
+
+### Talks
+
+- [Peter Corke – The Robotics Toolbox: 30 Years Old and Still Going Strong](https://www.youtube.com/watch?v=U37NMe7anXc&list=PL1pxneANaikCP5jwrw91UBkrCklkQXlyr&index=1) — a retrospective on the Toolbox's history and motivation, a good starting point before diving into the API.
+
+### Related book
+
+The Toolbox is a companion to Peter Corke's textbook [*Robotics, Vision & Control*](https://petercorke.com/books/robotics-vision-control-all-versions/) (Springer) — many docstrings and examples reference specific figures/sections from the book.
+
+### Citing the Toolbox
+
+If the toolbox helped you in your research, please cite
+
+```
+@inproceedings{rtb,
+  title={Not your grandmother’s toolbox--the Robotics Toolbox reinvented for Python},
+  author={Corke, Peter and Haviland, Jesse},
+  booktitle={2021 IEEE International Conference on Robotics and Automation (ICRA)},
+  pages={11357--11363},
+  year={2021},
+  organization={IEEE}
+}
+```
+
+<br>
+
+## Using the Toolbox in your Open Source Code?
+
+If you are using the Toolbox in your open source code, feel free to add our badge to your readme!
+
+For the powered by robotics toolbox badge
+
+[![Powered by the Robotics Toolbox](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/rtb_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+
+copy the following
+
+```
+[![Powered by the Robotics Toolbox](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/rtb_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+```
+
+For the powered by python robotics badge
+
+[![Powered by Python Robotics](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/pr_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+
+copy the following
+
+```
+[![Powered by Python Robotics](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.github/svg/pr_powered.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
+```
+
+<br>
+
+## Common Issues and Solutions
+
+See the common issues with fixes [here](https://github.com/petercorke/robotics-toolbox-python/wiki/FAQ).
+
+### Using the Toolbox with Windows?
+
+Graphical visualisation via Swift is currently not supported under Windows. However there is a hotfix, by changing in ```SwiftRoute.py```
+
+```self.path[9:]``` to  ```self.path[10:]```
+
+<br>
+
+<br>
+
+## Toolbox Research Applications
+
+The toolbox is incredibly useful for developing and prototyping algorithms for research, thanks to the exhaustive set of well documented and mature robotic functions exposed through clean and painless APIs. Additionally, the ease at which a user can visualize their algorithm supports a rapid prototyping paradigm.
+
+### Publication List
+
+J. Haviland, N. Sünderhauf and P. Corke, "**A Holistic Approach to Reactive Mobile Manipulation**," in _IEEE Robotics and Automation Letters_, doi: 10.1109/LRA.2022.3146554. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
+
+[[Arxiv Paper](https://arxiv.org/abs/2109.04749)] [[IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9695298)] [[Project Website](https://jhavl.github.io/holistic/)] [[Video](https://youtu.be/-DXBQPeLIV4)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/holistic_mm_non_holonomic.py)]
+
+<p>
+  <a href="https://youtu.be/-DXBQPeLIV4">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/holistic_youtube.png" width="560">
+  </a>
+</p>
+
+J. Haviland and P. Corke, "**NEO: A Novel Expeditious Optimisation Algorithm for Reactive Motion Control of Manipulators**," in _IEEE Robotics and Automation Letters_, doi: 10.1109/LRA.2021.3056060. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
+
+[[Arxiv Paper](https://arxiv.org/abs/2010.08686)] [[IEEE Xplore](https://ieeexplore.ieee.org/document/9343718)] [[Project Website](https://jhavl.github.io/neo/)] [[Video](https://youtu.be/jSLPJBr8QTY)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/neo.py)]
+
+<p>
+  <a href="https://youtu.be/jSLPJBr8QTY">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/neo_youtube.png" width="560">
+  </a>
+</p>
+
+K. He, R. Newbury, T. Tran, J. Haviland, B. Burgess-Limerick, D. Kulić, P. Corke, A. Cosgun, "**Visibility Maximization Controller for Robotic Manipulation**", in _IEEE Robotics and Automation Letters_, doi: 10.1109/LRA.2022.3188430. In the video, the robot is controlled using the Robotics toolbox for Python and features a recording from the [Swift](https://github.com/jhavl/swift) Simulator.
+
+[[Arxiv Paper](https://arxiv.org/abs/2202.12557)] [[IEEE Xplore](https://ieeexplore.ieee.org/abstract/document/9815144)] [[Project Website](https://rhys-newbury.github.io/projects/vmc/)] [[Video](https://youtu.be/vobLvg4E3kM)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/fetch_vision.py)]
+
+<p>
+  <a href="https://youtu.be/vobLvg4E3kM">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/vmc_youtube.png" width="560">
+  </a>
+</p>
+
+**A Purely-Reactive Manipulability-Maximising Motion Controller**, J. Haviland and P. Corke. In the video, the robot is controlled using the Robotics toolbox for Python.
+
+[[Paper](https://arxiv.org/abs/2002.11901)] [[Project Website](https://jhavl.github.io/mmc/)] [[Video](https://youtu.be/Vu_rcPlaADI)] [[Code Example](https://github.com/petercorke/robotics-toolbox-python/blob/main/roboticstoolbox/examples/mmc.py)]
+
+<p>
+  <a href="https://youtu.be/Vu_rcPlaADI">
+    <img src="https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/docs/figs/mmc_youtube.png" width="560">
+  </a>
+</p>
+
+<br>
+
+## Build a JupyterLite/Pyodide Wasm wheel
+
+[Pyodide](https://pyodide.org/) is a full CPython distribution compiled to
+WebAssembly, which is what lets the "Try it Now" JupyterLite deployment above
+run this toolbox entirely client-side, no server required. Each Pyodide
+release embeds one specific CPython version, and a wasm wheel is tagged with
+the CPython version it was built for (`cp312`, `cp313`, ...) -— a wheel only
+loads if its tag matches the CPython embedded in the Pyodide runtime actually
+running. JupyterLite doesn't bundle Pyodide directly either: the
+`jupyterlite-pyodide-kernel` package pulls in a specific Pyodide version per
+its own release, so bumping that one package can silently change which wheel
+tag your deployment now needs -— this is the single sharpest edge in this
+whole pipeline. This repo's live deployment currently pins
+`jupyterlite-pyodide-kernel==0.6.1` (see `.github/workflows/ci.yml`), which
+embeds Pyodide 0.27.6 / CPython 3.12 — hence `cp312` below.
+
+Also note Pyodide's own version numbering changed in 2026: releases up to
+`0.29.x` used an independent `0.x` scheme, but from Pyodide `314.0.0` onward
+the version number tracks the embedded CPython version directly (`314` =
+Python 3.14). "Current" no longer means a `0.x` version.
+
+### Use the published wheel (recommended)
+
+PyPI rejects the `pyodide_*` platform tag, so Wasm wheels can't be published
+there -— instead, every GitHub release attaches ready-built wheels (for each
+supported CPython version) as release assets. Download the one matching your
+deployment's CPython version, e.g.:
+
+```shell script
+gh release download --repo petercorke/robotics-toolbox-python --pattern '*cp312*pyodide*'
+```
+
+This is exactly what `ci.yml`'s `docs-build` job does to populate the live
+"Try it Now" site — most people should do this rather than building locally.
+
+### Build locally
+
+Only needed to test an unreleased change, or to target a different
+CPython/Pyodide pin than the current release. Uses cibuildwheel's Pyodide
+platform:
+
+```shell script
+make wheel-pyodide
+```
+
+Optionally pin the Pyodide runtime to match a different JupyterLite
+deployment than this project's own:
+
+```shell script
+PYODIDE_VERSION=0.27.6 make wheel-pyodide
+```
+
+The target writes to `dist/` and runs `make wheel-pyodide-check`, which validates
+the wheel filename contains:
+
+- `cp312-cp312`
+- `wasm32`
+- `pyemscripten_<major>_<minor>` or `pyodide_<major>_<minor>`
+
+To inspect the produced artifact path:
+
+```shell script
+ls -1 dist/*wasm32*.whl
+```
+
+### References
+
+- [Pyodide release notes](https://github.com/pyodide/pyodide/releases) —
+  confirms what CPython version a given Pyodide tag embeds, including the
+  2026 versioning-scheme change.
+- [jupyterlite-pyodide-kernel changelog](https://github.com/jupyterlite/pyodide-kernel/blob/main/CHANGELOG.md) —
+  the authoritative source for which Pyodide version a given kernel package
+  release bundles.
+- [cibuildwheel Pyodide platform docs](https://cibuildwheel.pypa.io/en/stable/platforms/#pyodide-webassembly).
+
+<br>