roboticstoolbox-python 1.4.2__py3-none-any.whl → 1.4.3__py3-none-any.whl

roboticstoolbox/robot/IK.py

@@ -293,36 +293,21 @@ class IKSolver(ABC):
         linalg_error = 0
 
         # Initialise variables
-        E = 0.0
+        E = np.inf
         q = q0[0]
 
         for search in range(self.slimit):
             q = q0[search].copy()
             i = 0
 
-            while i < self.ilimit:
-                i += 1
-
-                # step() reports E for q as it was *before* this iteration's
-                # update. An undamped update (GN/NR) can overshoot, so if E is
-                # already below tol we must return this pre-step q, not the
-                # mutated one step() hands back - otherwise we can report
-                # success with a q whose actual residual is far above tol.
-                q_prev = q.copy()
-
-                # Attempt a step
-                try:
-                    E, q[ets.jindices] = self.step(ets, Tep, q)
-
-                except np.linalg.LinAlgError:
-                    # Abandon search and try again
-                    linalg_error += 1
-                    break
+            # Check the initial configuration before attempting an update.
+            # An exact or already-converged q0 must not enter a solver step,
+            # which can be singular even though the requested pose is solved.
+            _, E = self.error(ets.eval(q), Tep)
 
-                # Check if we have arrived
+            while True:
+                # Check convergence for the current q before another update.
                 if E < self.tol:
-                    q = q_prev
-
                     # Wrap q to be within +- 180 deg
                     # If your robot has larger than 180 deg range on a joint
                     # this line should be modified in incorporate the extra range
@@ -344,6 +329,21 @@ class IKSolver(ABC):
                             residual=E,
                             reason="Success",
                         )
+
+                if i >= self.ilimit:
+                    break
+
+                i += 1
+
+                # Attempt a step. step() reports E for the updated q.
+                try:
+                    E, q[ets.jindices] = self.step(ets, Tep, q)
+
+                except np.linalg.LinAlgError:
+                    # Abandon search and try again
+                    linalg_error += 1
+                    break
+
             total_i += i
 
         # If we make it here, then we have failed
@@ -709,6 +709,7 @@ class IK_NR(IKSolver):
         else:
             q[ets.jindices] += np.linalg.inv(J) @ e + qnull
 
+        _, E = self.error(ets.eval(q), Tep)
         return E, q[ets.jindices]
 
 
@@ -941,6 +942,7 @@ class IK_LM(IKSolver):
 
         q[ets.jindices] += np.linalg.inv(J.T @ self.We @ J + Wn) @ g + qnull
 
+        _, E = self.error(ets.eval(q), Tep)
         return E, q[ets.jindices]
 
 
@@ -1121,6 +1123,7 @@ class IK_GN(IKSolver):
         else:
             q[ets.jindices] += np.linalg.inv(J) @ e + qnull
 
+        _, E = self.error(ets.eval(q), Tep)
         return E, q[ets.jindices]
 
 
@@ -1388,6 +1391,7 @@ class IK_QP(IKSolver):
 
         q += xd[: ets.n]
 
+        _, E = self.error(ets.eval(q), Tep)
         return E, q
 
 

{roboticstoolbox_python-1.4.2.dist-info → roboticstoolbox_python-1.4.3.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: roboticstoolbox-python
-Version: 1.4.2
+Version: 1.4.3
 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>
@@ -584,82 +584,3 @@ K. He, R. Newbury, T. Tran, J. Haviland, B. Burgess-Limerick, D. Kulić, P. Cork
     <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>

{roboticstoolbox_python-1.4.2.dist-info → roboticstoolbox_python-1.4.3.dist-info}/RECORD

@@ -571,7 +571,7 @@ roboticstoolbox/robot/Dynamics.py,sha256=iCplz4L1wT2OeXuS0acO9x8h4uxsifT67PV4TVi
 roboticstoolbox/robot/ELink.py,sha256=sgA-1c-U0Gz6TxABSJvfauq2L0Wu_1_pGJVKfLgrGP8,525
 roboticstoolbox/robot/ERobot.py,sha256=aUnSg91PwHyIHO6ipWtnNBNLYCftKGIxgYz1qX8wghg,567
 roboticstoolbox/robot/Gripper.py,sha256=CYyXFBYbEp52-RX-b6xGWS3EH-Y2BsYdtaR8Q0yAm3s,6954
-roboticstoolbox/robot/IK.py,sha256=eCov1k7ks-pJUj71_SwJKK61-fzgZS7XEdNHw7lj9qU,48380
+roboticstoolbox/robot/IK.py,sha256=7CzondLtnZdETFJPC4MczdDz46Ar3n83OvJnMBauV6I,48515
 roboticstoolbox/robot/Link.py,sha256=m98nfpv61C5Z1GDrOV_iN6gxyh9qj8URwiju9ssKXxw,46283
 roboticstoolbox/robot/PoERobot.py,sha256=mByMjb3P5FrW3Z8zyLS5waYcKBy8lpHG44g2uBUyB70,11053
 roboticstoolbox/robot/Robot.py,sha256=-5SsVItMPKAd56lxPQrXlHHbdpMn-GMKGCUy73LeELw,78647
@@ -604,8 +604,8 @@ roboticstoolbox/tools/urdf/tests/data/ur5.urdf,sha256=9g0uYkRHRsWHWl6vn5lIK_JMHq
 roboticstoolbox/tools/urdf/tests/test_urdf.py,sha256=MoRP8DolFu7RXxrKkwEWJOSfVygX7UJwEv-hLZkdlKw,3445
 roboticstoolbox/tools/urdf/urdf.py,sha256=IE5EUSNjkOAZZUOkuhXKDhYRq2AuJGulIvfbsRHy7pI,58743
 roboticstoolbox/tools/urdf/utils.py,sha256=6g1uuI2u7CUaWhKavI7wDHT3a2T3ijb92JByQ1lNq6w,1483
-roboticstoolbox_python-1.4.2.dist-info/METADATA,sha256=lzbE1kRVqtmFbbmNyf8YsAcKWgF0gCN4Oa8jc9NiNfg,30215
-roboticstoolbox_python-1.4.2.dist-info/WHEEL,sha256=DJBbB-IMWy7eyPvSdm5L2t-BbrULtweJWf0YC-blkl0,95
-roboticstoolbox_python-1.4.2.dist-info/entry_points.txt,sha256=m9xEI6rJsYQL0HosyeS-4TUPzxOR3kqx4vbJVVxwo7k,214
-roboticstoolbox_python-1.4.2.dist-info/licenses/LICENSE,sha256=oXNGHTPcMKl8PPZWk_4NIWGAtiaQcTgVJ1hpnTcnKFA,1062
-roboticstoolbox_python-1.4.2.dist-info/RECORD,,
+roboticstoolbox_python-1.4.3.dist-info/METADATA,sha256=5GYwYgEhenEQBNgrQtYgHuCprlkow1AIfxbxq_xNczE,27162
+roboticstoolbox_python-1.4.3.dist-info/WHEEL,sha256=DJBbB-IMWy7eyPvSdm5L2t-BbrULtweJWf0YC-blkl0,95
+roboticstoolbox_python-1.4.3.dist-info/entry_points.txt,sha256=m9xEI6rJsYQL0HosyeS-4TUPzxOR3kqx4vbJVVxwo7k,214
+roboticstoolbox_python-1.4.3.dist-info/licenses/LICENSE,sha256=oXNGHTPcMKl8PPZWk_4NIWGAtiaQcTgVJ1hpnTcnKFA,1062
+roboticstoolbox_python-1.4.3.dist-info/RECORD,,