rvc3python 0.2.3__py3-none-any.whl → 0.9.1__py3-none-any.whl

RVC3/__init__.py

@@ -0,0 +1,5 @@
+try:
+    import importlib.metadata
+    __version__ = importlib.metadata.version("rvc3python")
+except:
+    pass

RVC3/bin/bdsim_path.py

@@ -0,0 +1,10 @@
+#!/usr/bin/env python3
+
+import RVC3.models as models
+from pathlib import Path
+
+def main():
+    print(Path(models.__file__).parent)
+
+if __name__ == "__main__":
+    main()

RVC3/bin/rvctool.py

@@ -0,0 +1,354 @@
+#!/usr/bin/env python3
+
+# a simple Robotics & Vision Toolbox "shell", runs Python3 and loads
+# NumPy, SciPy, RTB-P, SMTB-P, MVTB-P.
+#
+# Run it from the shell
+#  $ rvctool
+#
+# Default switches can be set using the environent variables RVCTOOL, eg.
+#
+#  setenv RVCTOOL "-n"
+#  export RVCTOOL="-n"
+
+# import stuff
+import os
+from pathlib import Path
+import sys
+from importlib.metadata import version
+import argparse
+
+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 matplotlib as mpl
+
+try:
+    from colored import fg, bg, attr
+
+    _colored = True
+    # print('using colored output')
+except ImportError:
+    # print('colored not found')
+    _colored = False
+
+# imports for use by IPython and user
+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]
+from spatialmath import *  # lgtm [py/polluting-import]
+from spatialmath.base import *
+from spatialmath.base import sym
+from spatialgeometry import *  # lgtm [py/polluting-import]
+
+
+def parse_arguments():
+    parser = argparse.ArgumentParser(
+        prog="rvctool",
+        epilog=(
+            "To set defaults put the relevant command line switches as a string in the"
+            " environment varible RVCTOOL."
+        ),
+        description=(
+            "Interactive python enviroment for exploring the Robotics & Machine Vision"
+            " toolboxes for Python"
+        ),
+    )
+    parser.add_argument("script", default=None, nargs="?", help="specify script to run")
+
+    parser.add_argument(
+        "-B", "--backend", default=None, help="specify graphics backend"
+    )
+    parser.add_argument(
+        "-C",
+        "--color",
+        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=None, help="input prompt")
+    parser.add_argument(
+        "-r",
+        "--resultprefix",
+        default=None,
+        help="execution result prefix, include {} for execution count number",
+    )
+    parser.add_argument(
+        "-b",
+        "--no-banner",
+        dest="banner",
+        default=True,
+        action="store_false",
+        help="suppress startup banner",
+    )
+    parser.add_argument(
+        "-c",
+        "--nocwd",
+        dest="cwd",
+        default=True,
+        action="store_false",
+        help="suppress cwd to RVC3 folder",
+    )
+    parser.add_argument(
+        "-a",
+        "--showassign",
+        default=False,
+        action="store_true",
+        help="do not display the result of assignments",
+    )
+    parser.add_argument(
+        "-n",
+        "--normal",
+        dest="book",
+        default=True,
+        action="store_false",
+        help="use normal ipython settings for prompts and display on assignment",
+    )
+    parser.add_argument(
+        "-R",
+        "--no-robot",
+        dest="robot",
+        default=True,
+        action="store_false",
+        help="do not import robotics toolbox (RTB-P)",
+    )
+    parser.add_argument(
+        "-V",
+        "--no-vision",
+        dest="vision",
+        default=True,
+        action="store_false",
+        help="do not import vision toolbox (MVTB-P)",
+    )
+    parser.add_argument(
+        "--ansi",
+        default=False,
+        action="store_true",
+        help="use ANSImatrix to display matrices",
+    )
+    parser.add_argument(
+        "-e",
+        "--examples",
+        default=False,
+        action="store_true",
+        help="change working directory to shipped examples",
+    )
+    parser.add_argument(
+        "-s",
+        "--swift",
+        default=False,
+        action="store_true",
+        help="use Swift as default backend",
+    )
+
+    # add options for light/dark mode
+
+    env = os.getenv("RVCTOOL")
+    if env is not None:
+        # if envariable is set, parse it just like command line options
+        args = parser.parse_args(env.split())
+        # then use it to set the defaults for the actual command line parsing
+        parser.set_defaults(**args.__dict__)
+
+    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
+
+    if args.script is not None:
+        args.banner = False
+
+    return args
+
+
+def make_banner(args):
+    # http://patorjk.com/software/taag/#p=display&f=Standard&t=RVC%203
+    # print the banner: standard
+    # https://patorjk.com/software/taag/#p=display&f=Standard&t=Robotics%2C%20Vision%20%26%20Control%203
+
+    banner = fg("yellow")
+    banner += r""" ____       _           _   _             __     ___     _                ___      ____            _             _   _____ 
+|  _ \ ___ | |__   ___ | |_(_) ___ ___    \ \   / (_)___(_) ___  _ __    ( _ )    / ___|___  _ __ | |_ _ __ ___ | | |___ / 
+| |_) / _ \| '_ \ / _ \| __| |/ __/ __|    \ \ / /| / __| |/ _ \| '_ \   / _ \/\ | |   / _ \| '_ \| __| '__/ _ \| |   |_ \ 
+|  _ < (_) | |_) | (_) | |_| | (__\__ \_    \ V / | \__ \ | (_) | | | | | (_>  < | |__| (_) | | | | |_| | | (_) | |  ___) |
+|_| \_\___/|_.__/ \___/ \__|_|\___|___( )    \_/  |_|___/_|\___/|_| |_|  \___/\/  \____\___/|_| |_|\__|_|  \___/|_| |____/ 
+                                          |/                                                                                   
+for Python"""
+
+    versions = []
+    if args.robot:
+        versions.append(f"RTB=={version('roboticstoolbox-python')}")
+    if args.vision:
+        versions.append(f"MVTB=={version('machinevision-toolbox-python')}")
+    try:
+        versions.append(f"SG=={version('spatialmath-python')}")
+    except:
+        pass
+    versions.append(f"SMTB=={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 spatialgeometry import *
+    """
+    if args.robot:
+        banner += "from roboticstoolbox import *\n"
+    if args.vision:
+        banner += """    from machinevisiontoolbox import *
+    import machinevisiontoolbox.base as mvb
+    """
+
+    banner += r"""
+    # 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
+    """
+    banner += attr(0)
+
+    return banner
+
+
+def startup():
+    plt.ion()
+
+
+def main():
+    args = parse_arguments()
+    # print(args)
+
+    if args.book:
+        # set book options
+        args.resultprefix = ""
+        args.prompt = ">>> "
+        args.showassign = True
+        args.ansi = False
+        args.examples = True
+
+    # setup defaults
+    np.set_printoptions(
+        linewidth=120,
+        formatter={"float": lambda x: f"{x:8.4g}" if abs(x) > 1e-10 else f"{0:8.4g}"},
+    )
+
+    globs = globals()
+    if args.robot:
+        exec("from roboticstoolbox import *", globs)
+        from roboticstoolbox import __path__
+
+        sys.path.append(str(Path(__path__[0]) / "examples"))
+
+        # load some robot models
+        globs["puma"] = models.DH.Puma560()
+        globs["panda"] = models.DH.Panda()
+
+        # set default backend for Robot.plot
+        if args.swift:
+            Robot.default_backend = "swift"
+
+    if args.vision:
+        exec("from machinevisiontoolbox import *", globs)
+        exec("import machinevisiontoolbox.base as mvbase", globs)
+
+    # set matrix printing mode for spatialmath
+    SE3._ansimatrix = args.ansi
+
+    # set default matplotlib backend
+    if args.backend is not None:
+        print(f"Using matplotlib backend {args.backend}")
+        mpl.use(args.backend)
+
+    if args.banner:
+        banner = make_banner(args)
+        print(banner)
+
+    if args.showassign and args.banner:
+        print(
+            fg("red")
+            + "Results of assignments will be displayed, use trailing ; to suppress"
+            + attr(0)
+            + "\n"
+        )
+
+    # append to the module path
+    # - RVC3 models and examples
+    # - RTB examples
+    root = Path(__file__).absolute().parent.parent
+    sys.path.append(str(root / "models"))
+    sys.path.append(str(root / "examples"))
+
+    if args.cwd:
+        os.chdir(root)
+
+    class MyPrompt(Prompts):
+        def in_prompt_tokens(self, cli=None):
+            if args.prompt is None:
+                return super().in_prompt_tokens()
+            else:
+                return [(Token.Prompt, args.prompt)]
+
+        def out_prompt_tokens(self, cli=None):
+            if args.resultprefix is None:
+                # traditional behaviour
+                return super().out_prompt_tokens()
+            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.display_banner = args.banner
+
+    # 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;",
+        ]
+
+    c.InteractiveShellApp.exec_lines = code
+    IPython.start_ipython(config=c, user_ns=globals())
+
+
+if __name__ == "__main__":
+    main()

RVC3/examples/hershey/genhershey.py

@@ -0,0 +1,136 @@
+# http://paulbourke.net/dataformats/hershey/
+import math
+from collections import namedtuple
+import matplotlib.pyplot as plt
+import numpy as np
+import json
+
+"""
+Read Hershey JH-format font data and create a cell array that maps ASCII code
+to stroke data.
+
+Each character is drawn within a 1x1 grid, with origin at the bottom left.
+
+hershey{'B'} is a struct with elements:
+    - width, width of the character
+    - height, height of the character
+    - top, largest y-coordinate
+    - bottom, smallest y-coordinate
+    - stroke, 2xN array of waypoints.  A column of NaNs indicates the end of
+      one stroke and the beginning of the next.
+
+Hershey's original fonts were encoded in a compact ASCII format by
+James Hurt (JH).
+
+References:
+    - `Wikipedia <https://en.wikipedia.org/wiki/Hershey_fonts>`_
+    - `Hershey vector fonts library, tools, and glyphs <https://github.com/kamalmostafa/hershey-fonts>`_
+    - `Hershey Vector Font by Paul Bourke <http://paulbourke.net/dataformats/hershey>`_
+"""
+
+## READ the glyph indices
+#
+# this file lists the glyph indices in ASCII order, starting at 32 (space)
+# comprises numbers N and ranges N-M
+with open('roman-simplex.txt', 'r') as f:
+
+    fontmap = []
+
+    for number in f.read().split():
+        if '-' in number:
+            s = list(map(int, number.split('-')))
+            fontmap.extend(range(s[0], s[1]+1))
+        else:
+            fontmap.append(int(number))
+
+# we now have a list of glyph indices in ASCII code order, starting at 32
+
+## READ the glyph data
+#
+# read lines, each line has a maximum width of 72 chars
+# lines of 72 chars have implicit continuation lines
+# line[:5] is the glyph number
+
+glyphdata = {}
+
+with open('hershey.txt', 'r') as f:
+    longline = None
+    for line in f:
+        line = line.rstrip()
+        if len(line) == 0:
+            continue
+        if longline is None:
+            longline = line
+        else:
+            longline += line
+        if len(line) == 72:
+            continue
+        fn = int(longline[:5])
+        glyphdata[fn] = longline
+        longline = None
+
+# glyphdict[glyphindex] -> glyph data
+
+hdict = {}
+hershey = namedtuple('hershey', 'strokes width top bottom')
+
+for i, glyphindex in enumerate(fontmap):
+
+    data = glyphdata[glyphindex]
+    npairs = int(data[5:8]) - 1
+    left = ord(data[8]) - ord('R')
+    right = ord(data[9]) - ord('R')
+    stroke = []
+    data = data[10:]
+
+    strokes = []
+    ydata = []
+
+    # build a list of continuous strokes, each is a list of (x,y) data
+    for _ in range(npairs):
+        pair = data[:2]
+        data = data[2:]
+
+        if pair == ' R':
+            # end of a stroke
+            strokes.append(stroke)
+            stroke = []
+        else:
+            # part of a stroke
+            x = ord(pair[0]) - ord('R') - left
+            y = ord(pair[1]) - ord('R') + 9            
+            stroke.append((x / 25, -y / 25))
+            ydata.append(y)
+
+    if len(stroke) > 0:
+        strokes.append(stroke)
+    width = right - left
+    if len(ydata) > 0:
+        top = max(ydata)
+        bottom = min(ydata)
+    else:
+        top = 0
+        bottom = 0
+
+    width = (right - left) / 25
+
+    hdict[chr(i+32)] = {
+        'strokes': strokes,
+        'width': width,
+        'top': top / 25,
+        'bottom': bottom / 25
+    }
+
+    # plt.figure()
+    # if len(strokes) > 0:
+    #     for stroke in strokes:
+    #         xy = np.r_[stroke]
+    #         plt.plot(xy[:,0], xy[:,1], linewidth=4)
+    #     plt.xlim(0,1.5)
+    #     plt.ylim(-1,0.5)
+    #     plt.title(chr(i+32))
+
+    # plt.pause(0.2)
+        
+#pickle.dump(hdict, open("hershey.pickle", 'wb'))
+json.dump(hdict, open("hershey.json", 'w'))

RVC3/examples/hershey/hershey.json

@@ -0,0 +1 @@
+{" ": {"strokes": [], "width": 0.64, "top": 0.0, "bottom": 0.0}, "!": {"strokes": [[[0.2, 0.12], [0.2, -0.44]], [[0.2, -0.64], [0.16, -0.68], [0.2, -0.72], [0.24, -0.68], [0.2, -0.64]]], "width": 0.4, "top": 0.72, "bottom": -0.12}, "\"": {"strokes": [[[0.16, 0.12], [0.16, -0.16]], [[0.48, 0.12], [0.48, -0.16]]], "width": 0.64, "top": 0.16, "bottom": -0.12}, "#": {"strokes": [[[0.44, 0.28], [0.16, -1.0]], [[0.68, 0.28], [0.4, -1.0]], [[0.16, -0.24], [0.72, -0.24]], [[0.12, -0.48], [0.68, -0.48]]], "width": 0.84, "top": 1.0, "bottom": -0.28}, "$": {"strokes": [[[0.32, 0.28], [0.32, -0.88]], [[0.48, 0.28], [0.48, -0.88]], [[0.68, 0.0], [0.6, 0.08], [0.48, 0.12], [0.32, 0.12], [0.2, 0.08], [0.12, 0.0], [0.12, -0.08], [0.16, -0.16], [0.2, -0.2], [0.28, -0.24], [0.52, -0.32], [0.6, -0.36], [0.64, -0.4], [0.68, -0.48], [0.68, -0.6], [0.6, -0.68], [0.48, -0.72], [0.32, -0.72], [0.2, -0.68], [0.12, -0.6]]], "width": 0.8, "top": 0.88, "bottom": -0.28}, "%": {"strokes": [[[0.84, 0.12], [0.12, -0.72]], [[0.32, 0.12], [0.4, 0.04], [0.4, -0.04], [0.36, -0.12], [0.28, -0.16], [0.2, -0.16], [0.12, -0.08], [0.12, 0.0], [0.16, 0.08], [0.24, 0.12], [0.32, 0.12], [0.4, 0.08], [0.52, 0.04], [0.64, 0.04], [0.76, 0.08], [0.84, 0.12]], [[0.68, -0.44], [0.6, -0.48], [0.56, -0.56], [0.56, -0.64], [0.64, -0.72], [0.72, -0.72], [0.8, -0.68], [0.84, -0.6], [0.84, -0.52], [0.76, -0.44], [0.68, -0.44]]], "width": 0.96, "top": 0.72, "bottom": -0.12}, "&": {"strokes": [[[0.92, -0.24], [0.92, -0.2], [0.88, -0.16], [0.84, -0.16], [0.8, -0.2], [0.76, -0.28], [0.68, -0.48], [0.6, -0.6], [0.52, -0.68], [0.44, -0.72], [0.28, -0.72], [0.2, -0.68], [0.16, -0.64], [0.12, -0.56], [0.12, -0.48], [0.16, -0.4], [0.2, -0.36], [0.48, -0.2], [0.52, -0.16], [0.56, -0.08], [0.56, 0.0], [0.52, 0.08], [0.44, 0.12], [0.36, 0.08], [0.32, 0.0], [0.32, -0.08], [0.36, -0.2], [0.44, -0.32], [0.64, -0.6], [0.72, -0.68], [0.8, -0.72], [0.88, -0.72], [0.92, -0.68], [0.92, -0.64]]], "width": 1.04, "top": 0.72, "bottom": 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