roboticstoolbox-python 1.4.2__tar.gz → 1.4.3__tar.gz

roboticstoolbox_python-1.4.3/.github/.release-please-manifest.json

@@ -0,0 +1,3 @@
+{
+    ".": "1.4.3"
+}

roboticstoolbox_python-1.4.3/.github/CONTRIBUTING.md

@@ -0,0 +1,34 @@
+# Contributing to the Robotics Toolbox for Python
+
+Thanks for your interest in contributing! We welcome bug reports, fixes, new features, and documentation improvements.
+
+## Reporting issues
+
+Please use the issue template and include:
+
+- Your operating system, Python version, and roboticstoolbox version
+- A short, self-contained code example that reproduces the problem
+
+## Looking for somewhere to start?
+
+Issues labelled [`good first issue`](https://github.com/petercorke/robotics-toolbox-python/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22) or [`help wanted`](https://github.com/petercorke/robotics-toolbox-python/issues?q=is%3Aissue+is%3Aopen+label%3A%22help+wanted%22) are a good place to start.
+
+## Contributing code
+
+- Keep pull requests scoped to a single feature or fix. If you have several unrelated changes, open separate PRs so each can be reviewed and merged independently.
+- For API changes, propose the change in [Discussions](https://github.com/petercorke/robotics-toolbox-python/discussions) before opening a PR.
+- PR titles follow [Conventional Commits](https://www.conventionalcommits.org/) (`type: description`) — checked automatically on the PR.
+- Code is linted and formatted with [ruff](https://docs.astral.sh/ruff/); configuration is in `pyproject.toml` under `[tool.ruff]`.
+- New or changed code should be type-hinted using modern syntax (`X | Y`, `X | None`, `list[X]`, `dict[K, V]` — not `Union`, `Optional`, `List`, `Dict`).
+- Docstrings use reST style (`:param:`, `:returns:`). Type hints in the function signature already cover types, so `:type:`/`:rtype:` are rarely needed.
+- Any code change should be covered by tests and must not break existing ones. Tests live in `tests/`. Install the dev dependencies with `pip install -e '.[dev]'` (add `,docs` too if you're touching documentation), then run:
+
+  ```
+  pytest tests/ --ignore=tests/test_blocks.py --timeout=50 --timeout_method=thread -q
+  ```
+
+- Target branch is `main`.
+
+## License
+
+By contributing, you agree that your contributions will be licensed under this project's [MIT License](LICENSE).

roboticstoolbox_python-1.4.3/.github/workflows/ci.yml

@@ -0,0 +1,165 @@
+# 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@v6
+        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"  >> $env:GITHUB_ENV
+
+      - name: Install package
+        run: pip install .[dev,swift]
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # same reasoning, this job hits the same lazily-cloned model data.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v6
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ 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: ${{ needs.test.result }}"
+            exit 1
+          fi
+
+  coverage:
+    needs: [test-core, test]
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v7
+
+      - uses: actions/setup-python@v7
+        with:
+          python-version: "3.12"
+          cache: pip
+
+      - name: Install package
+        run: pip install .[dev,swift]
+
+      # See the "Cache robot_descriptions assets" step in test-core above --
+      # same reasoning, this job hits the same lazily-cloned model data.
+      - name: Cache robot_descriptions assets
+        uses: actions/cache@v6
+        with:
+          path: ~/.cache/robot_descriptions
+          key: robot-descriptions-v2-${{ 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
+
+  # Builds the Sphinx docs + JupyterLite site and, on main, deploys them to
+  # GitHub Pages. Steps live in docs.yml (a reusable workflow) so this path
+  # and the manual docs-publish.yml dispatch can never drift apart.
+  docs:
+    needs: [test-core, test]
+    uses: ./.github/workflows/docs.yml
+    permissions:
+      contents: read
+      pages: write
+      id-token: write

roboticstoolbox_python-1.4.3/.github/workflows/docs-publish.yml

@@ -0,0 +1,22 @@
+# Manual escape hatch to rebuild + redeploy the Sphinx docs and JupyterLite
+# ("Try it Now") site without waiting on ci.yml's full test matrix first --
+# e.g. for a docs-only fix that doesn't need the whole suite to re-run.
+#
+# Calls the same reusable docs.yml as ci.yml, so the build/deploy steps
+# themselves are never duplicated between the two trigger paths. Deployment
+# still only happens when run against main (see docs.yml's docs-deploy
+# job) -- dispatching this from another branch just builds, it doesn't
+# publish.
+
+name: Docs Publish
+
+on:
+  workflow_dispatch:
+
+jobs:
+  docs:
+    uses: ./.github/workflows/docs.yml
+    permissions:
+      contents: read
+      pages: write
+      id-token: write

roboticstoolbox_python-1.4.2/.github/workflows/ci.yml → roboticstoolbox_python-1.4.3/.github/workflows/docs.yml

@@ -1,13 +1,16 @@
-# Run tests, coverage, and build docs across all supported platforms
-# Triggers on pushes/PRs to main.
+# Build the Sphinx docs + JupyterLite ("Try it Now") site, and deploy the
+# combined output to GitHub Pages when run against main.
+#
+# Reusable workflow (workflow_call) -- called from ci.yml, gated on the
+# test matrix passing, and from docs-publish.yml, a manual workflow_dispatch
+# escape hatch for a docs-only change that doesn't need the full suite to
+# re-run first. Keeping the build/deploy steps in one place means the two
+# trigger paths can never drift out of sync with each other.
 
-name: CI
+name: Docs
 
 on:
-  push:
-    branches: [main]
-  pull_request:
-    branches: [main]
+  workflow_call:
 
 env:
   FORCE_JAVASCRIPT_ACTIONS_TO_NODE24: true
@@ -15,146 +18,7 @@ env:
   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
@@ -170,10 +34,11 @@ jobs:
           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.
+      # See the "Cache robot_descriptions assets" step in ci.yml's test-core
+      # job -- intro.rst's YuMi runblock example loads via robot_descriptions
+      # too.
       - name: Cache robot_descriptions assets
-        uses: actions/cache@v4
+        uses: actions/cache@v6
         with:
           path: ~/.cache/robot_descriptions
           key: robot-descriptions-v2-${{ runner.os }}-3.12
@@ -297,7 +162,8 @@ jobs:
   # 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".
+  # (or a manual docs-publish.yml dispatch from a feature branch) would
+  # otherwise show a false "failed to deploy to github-pages".
   docs-deploy:
     needs: docs-build
     if: github.ref == 'refs/heads/main'

{roboticstoolbox_python-1.4.2 → roboticstoolbox_python-1.4.3}/.github/workflows/release.yml

@@ -108,7 +108,7 @@ jobs:
       - uses: actions/checkout@v7
 
       - name: Build wheels
-        uses: pypa/cibuildwheel@v4.1.1
+        uses: pypa/cibuildwheel@v4.2.0
 
       - uses: actions/upload-artifact@v7
         with:

{roboticstoolbox_python-1.4.2 → roboticstoolbox_python-1.4.3}/CHANGELOG.md

@@ -1,5 +1,27 @@
 # Changelog
 
+## [1.4.3](https://github.com/petercorke/robotics-toolbox-python/compare/v1.4.2...v1.4.3) (2026-09-12)
+
+
+### Bug Fixes
+
+* check IK convergence before solver step ([aabe415](https://github.com/petercorke/robotics-toolbox-python/commit/aabe415af02c0fe9336fd9eb3693e962b5b577e2))
+
+
+### Documentation
+
+* expand trchain runblock examples ([#655](https://github.com/petercorke/robotics-toolbox-python/issues/655)) ([9e6c00c](https://github.com/petercorke/robotics-toolbox-python/commit/9e6c00c63b7cee1c94476bac5bc7e113e48cf9ab))
+* fix broken URL ([#657](https://github.com/petercorke/robotics-toolbox-python/issues/657)) ([2d24e0d](https://github.com/petercorke/robotics-toolbox-python/commit/2d24e0d8f75c15bd7937f78347b876b0d51d7cf4))
+* **readme:** remove wasm info ([#656](https://github.com/petercorke/robotics-toolbox-python/issues/656)) ([4ba11d1](https://github.com/petercorke/robotics-toolbox-python/commit/4ba11d19523ef79dcba1beede3fc79ca0cbe8f8f))
+* rewrite CONTRIBUTING.md ([cd9c619](https://github.com/petercorke/robotics-toolbox-python/commit/cd9c619040f3f98acaea9a67520c67b3d74b30e9))
+* showcase trchain runblock examples ([9e6c00c](https://github.com/petercorke/robotics-toolbox-python/commit/9e6c00c63b7cee1c94476bac5bc7e113e48cf9ab))
+
+
+### Build System
+
+* **deps:** bump actions/cache from 4 to 6 ([1ebf302](https://github.com/petercorke/robotics-toolbox-python/commit/1ebf302c125f0cec4fb368eac8ce4d0c7364cad2))
+* **deps:** bump pypa/cibuildwheel from 4.1.1 to 4.2.0 ([efbca2a](https://github.com/petercorke/robotics-toolbox-python/commit/efbca2a27d287fd4aa6e69e3c2f1c7ede875fc3b))
+
 ## [1.4.2](https://github.com/petercorke/robotics-toolbox-python/compare/v1.4.1...v1.4.2) (2026-08-26)
 
 **Headline**: Fixes to inverse kinematics and forward kinematics for branched robots. Arising from a big trawl through long standing issues (thanks to all those users), many were resolved by recent work, but some were not.

{roboticstoolbox_python-1.4.2 → roboticstoolbox_python-1.4.3}/PKG-INFO

@@ -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 → roboticstoolbox_python-1.4.3}/README.md

@@ -484,82 +484,3 @@ 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>