rvc3python 0.2.3__tar.gz → 0.9.1__tar.gz

{rvc3python-0.2.3 → rvc3python-0.9.1}/MANIFEST.in

@@ -1,6 +1,7 @@
 
 include RVC3/*/*/*
 include *.ipynb
+include RVC3/models/*.bd
 exclude 3dfigures/*
 exclude 3ddisplay/*
 exclude pointclouds/*

{rvc3python-0.2.3 → rvc3python-0.9.1}/PKG-INFO

@@ -1,24 +1,35 @@
 Metadata-Version: 2.1
 Name: rvc3python
-Version: 0.2.3
+Version: 0.9.1
 Summary: Support for book: Robotics, Vision & Control 3 in Python
-Home-page: https://github.com/petercorke/RVC3-python
-Author: Peter Corke
-License: MIT
-Project-URL: Documentation, https://petercorke.github.io/RVC3-python
+Author-email: Peter Corke <rvc@petercorke.com>
+Project-URL: Homepage, https://github.com/petercorke/RVC3-python
+Project-URL: Bug Tracker, https://github.com/petercorke/RVC3-python/issues
 Project-URL: Source, https://github.com/petercorke/RVC3-python
-Project-URL: Tracker, https://github.com/petercorke/RVC3-python/issues
-Keywords: robotics,robot,manipulator,robot arm,mobile robot,mobile manipulation,path planning,SLAM,pose graph,Dubins,Reeds-Shepp,lattice planner,RRT,PRM,rapidly exploring random tree,probabilistic roadmap planner,force control,kinematics,Jacobian,position control,velocity control,spatial math,SO(2),SE(2),SO(3),SE(3),twist,product of exponential,translation,orientation,angle-axis,Lie group,skew symmetric matrix,pose,translation,rotation matrix,rigid body transform,homogeneous transformation,Euler angles,roll-pitch-yaw angles,quaternion,unit-quaternioncomputer vision,machine vision,robotic vision,color space,blackbody,image segmentation,blobs,Hough transform,k-means,homography,camera calibration,visual odometry,bundle adjustment,stereo vision,rectification
-Classifier: Development Status :: 4 - Beta
+Keywords: robotics,robot,manipulator,robot arm,mobile robot,mobile manipulation,path planning,SLAM,pose graph,Dubins,Reeds-Shepp,lattice planner,RRT,PRM,rapidly exploring random tree,probabilistic roadmap planner,force control,kinematics,Jacobian,position control,velocity control,spatial math,SO(2),SE(2),SO(3),SE(3),twist,product of exponential,translation,orientation,angle-axis,Lie group,skew symmetric matrix,pose,translation,rotation matrix,rigid body transform,homogeneous transformation,Euler angles,roll-pitch-yaw angles,quaternion,unit-quaternion,computer vision,machine vision,robotic vision,color space,blackbody,image segmentation,blobs,Hough transform,k-means,homography,camera calibration,visual odometry,bundle adjustment,stereo vision,rectification
+Classifier: Development Status :: 5 - Production/Stable
 Classifier: Intended Audience :: Developers
-Classifier: License :: OSI Approved :: MIT License
 Classifier: Programming Language :: Python :: 3.7
 Classifier: Programming Language :: Python :: 3.8
 Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Operating System :: OS Independent
 Requires-Python: >=3.7
 Description-Content-Type: text/markdown
-Provides-Extra: pytorch
 License-File: LICENSE
+Requires-Dist: matplotlib
+Requires-Dist: roboticstoolbox-python>=1
+Requires-Dist: machinevision-toolbox-python
+Requires-Dist: bdsim>=1.1
+Requires-Dist: IPython
+Requires-Dist: sympy
+Requires-Dist: pybullet
+Provides-Extra: pytorch
+Requires-Dist: torch; extra == "pytorch"
+Requires-Dist: torchvision; extra == "pytorch"
 
 # Robotics, Vision & Control: 3rd edition in Python (2023)
 [![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/master/.github/svg/py_collection.min.svg)](https://github.com/petercorke/robotics-toolbox-python)
@@ -29,22 +40,41 @@ License-File: LICENSE
 ![PyPI - Python Version](https://img.shields.io/pypi/pyversions/rvc3python.svg)
 [![PyPI - Downloads](https://img.shields.io/pypi/dw/rvc3python)](https://pypistats.org/packages/rvc3python)
 
-
-coming soon, this is a work in progress, please don't post issues
-
+<table style="border:0px">
+<tr style="border:0px">
+<td style="border:0px">
 <img src="https://github.com/petercorke/RVC3-python/raw/main/doc/frontcover.png" alt="Front cover 978-3-031-06468-5_5208" width="300">
-
-This book depends on the following open-source Python packages
-
-<a href="https://github.com/petercorke/robotics-toolbox-python"><img alt="Robotics Toolbox for Python" src="https://github.com/petercorke/robotics-toolbox-python/raw/master/docs/figs/RobToolBox_RoundLogoB.png" width="150"></a>
+</td>
+<td style="border:0px">
+Welcome to the online hub for the book:
+<ul type="none">
+<li><b>Robotics, Vision & Control</b>: fundamental algorithms in Python (3rd edition) 
+<li>Peter Corke, published by Springer-Nature 2023.</li>
+<li><b>ISBN</b> 978-3-031-06468-5 (hardcopy), 978-3-031-06469-2 (eBook)</li>
+<li><b>DOI</b> <a href="https://doi.org/10.1007/978-3-031-06469-2">10.1007/978-3-031-06469-2</a></li>
+</ul>
+<br><br>
+<p>Report an issue with the book or its supporting code <a href="https://github.com/petercorke/RVC3-python/issues/new/choose">here</a>.</p>
+
+<p>Known errata for the book can be viewed <a href="https://github.com/petercorke/RVC3-python/wiki/Errata">here</a>.</p>
+</td>
+</tr>
+</table>
+
+
+This book uses many examples based on the following open-source Python packages
+
+<a href="https://github.com/petercorke/robotics-toolbox-python"><img alt="Robotics Toolbox for Python" src="https://github.com/petercorke/robotics-toolbox-python/raw/master/docs/figs/RobToolBox_RoundLogoB.png" width="130"></a>
 <a href="https://github.com/petercorke/machinevision-toolbox-python"><img alt="Machine Vision Toolbox for Python" src="https://github.com/petercorke/machinevision-toolbox-python/raw/master/figs/VisionToolboxLogo_NoBackgnd@2x.png" width="150"></a>
+<a href="https://github.com/petercorke/spatialmath-python"><img alt="Spatial Maths Toolbox for Python" src="https://github.com/petercorke/spatialmath-python/raw/master/docs/figs/CartesianSnakes_LogoW.png" width="130"></a>
+<a href="https://github.com/petercorke/bdsim"><img alt="Block diagram simulation for Python" src="https://github.com/petercorke/bdsim/raw/master/figs/BDSimLogo_NoBackgnd@2x.png" width="250"></a>
 
-which in turn have dependencies on other packages created by the author and
+**Robotics Toolbox for Python**, **Machine Vision Toolbox for Python**, **Spatial Maths Toolbox for Python**, **Block Diagram Simulation for Python**.  These in turn have dependencies on other packages created by the author and
 third parties.
 
 ## Installing the package
 
-This package provides a simple one-step installation of the required Toolboxes
+This package provides a simple one-step installation of *all* the required Toolboxes
 ```shell
 pip install rvc3python
 ```
@@ -53,11 +83,24 @@ or
 conda install rvc3python
 ```
 
+There are a lot of dependencies and this might take a minute or so.  You now have a very
+powerful computing environment for robotics and computer vision.
+
+### Python version
+
+Given the rapid rate of language additions, particularly around type hinting, use at
+least Python 3.8.  Python 3.7 goes end of life in June 2023.
+
+Not all package dependencies will work with the latest release of Python.  In particular, check:
+* [PyTorch](https://pypi.org/project/torch/) used for segmentation examples in Chapter 12
+* [Open3D](https://pypi.org/project/open3d), used for point cloud examples in Chapter 14.
+
 ### Installing into a Conda environment
 
 It's probably a good idea to create a virtual environment to keep this package
-and its dependencies separated from your other Python code and projects.  This
-is really easy using Conda conda, and only adds a couple of extra lines
+and its dependencies separated from your other Python code and projects.  If you've
+never used virtual environments before this might be a good time to start, and it
+is really easy [using Conda](https://conda.io/projects/conda/en/latest/user-guide/install/index.html):
 ```shell
 conda create -n RVC3 python=3.10
 conda activate RVC3
@@ -73,7 +116,7 @@ pip install rvc3python[pytorch]
 ```
 or
 ```shell
-conda install rvc3python[pytorch]
+conda install rvc3python
 ```
 ## Using the Toolboxes
 
@@ -87,36 +130,43 @@ $ rvctool
 |  _ < (_) | |_) | (_) | |_| | (__\__ \_    \ V / | \__ \ | (_) | | | | | (_>  < | |__| (_) | | | | |_| | | (_) | |  ___) |
 |_| \_\___/|_.__/ \___/ \__|_|\___|___( )    \_/  |_|___/_|\___/|_| |_|  \___/\/  \____\___/|_| |_|\__|_|  \___/|_| |____/ 
                                       |/                                                                                   
-for Python (RTB==1.0.2, MVTB==0.9.1, SMTB==1.0.0)
-
-import numpy as np
-import scipy as sp
-import matplotlib.pyplot as plt
-from math import pi
-from spatialmath import *
-from spatialmath.base import *
-from roboticstoolbox import *
-from machinevisiontoolbox import *
-import machinevisiontoolbox.base as mvbase
-
-func/object?       - show brief help
-help(func/object)  - show detailed help
-func/object??      - show source code
-
+                                                                                 
+for Python (RTB==1.1.0, MVTB==0.9.5, SG==1.1.7, SMTB==1.1.7, NumPy==1.24.2, SciPy==1.10.1, Matplotlib==3.7.1)
+
+    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 *
+    from roboticstoolbox import *
+    from machinevisiontoolbox import *
+    import machinevisiontoolbox.base as mvb
+    
+    # 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
 
 Results of assignments will be displayed, use trailing ; to suppress
-
- 
-Python 3.8.5 (default, Sep  4 2020, 02:22:02) 
+    
+Python 3.10.9 | packaged by conda-forge | (main, Feb  2 2023, 20:24:27) [Clang 14.0.6 ]
 Type 'copyright', 'credits' or 'license' for more information
-IPython 8.0.1 -- An enhanced Interactive Python. Type '?' for help.
+IPython 8.11.0 -- An enhanced Interactive Python. Type '?' for help.
 
 
 >>> 
 ```
 
-This provides an interactive Python (IPython) session with all the Toolboxes
-preloaded, and ready to go.  It's a highly capable, convenient, and
+This provides an interactive Python
+([IPython](https://ipython.readthedocs.io/en/stable)) session with all the Toolboxes and
+supporting packages imported, and ready to go.  It's a highly capable, convenient, and
 "MATLAB-like" workbench environment for robotics and computer vision.
 
 For example to load an ETS model of a Panda robot, solve a forward kinematics
@@ -176,7 +226,8 @@ matches
 
 `rvctool` is a wrapper around
 [IPython](https://ipython.readthedocs.io/en/stable) where:
-- functions and classes can be accessed without needing package prefixes
+- robotics and vision functions and classes can be accessed without needing
+  package prefixes
 - results are displayed by default like MATLAB does, and like MATLAB you need to
   put a semicolon on the end of the line to prevent this
 - the prompt is the standard Python REPL prompt `>>>` rather than the IPython
@@ -189,16 +240,64 @@ examples.
 
 `rvctool` imports the all the above mentioned packages using `import *` which is
 not considered best Python practice.  It is very convenient for interactive
-experimentation, but in your own code you can control the imports as you see
+experimentation, but in your own code you can handle the imports as you see
 fit.
 
+### Cutting and pasting
+
+IPython is very forgiving when it comes to cutting and pasting in blocks of Python
+code.  It will strip off the `>>>` prompt character and ignore indentation.  The normal
+python REPL is not so forgiving.  IPython also maintains a command history and
+allows command editing.
+### Simple scripting
+You can write very simple scripts, for example `test.py` is
+
+```python
+T = puma.fkine(puma.qn)
+sol = puma.ikine_LM(T)
+sol.q
+puma.plot(sol.q);
+```
+
+then 
+
+```shell
+$ rvctool test.py
+   0         0         1         0.5963    
+   0         1         0        -0.1501    
+  -1         0         0         0.6575    
+   0         0         0         1         
+
+IKSolution(q=array([7.235e-08,  -0.8335,  0.09396,    3.142,   0.8312,   -3.142]), success=True, iterations=15, searches=1, residual=1.406125546650288e-07, reason='Success')
+array([7.235e-08,  -0.8335,  0.09396,    3.142,   0.8312,   -3.142])
+PyPlot3D backend, t = 0.05, scene:
+  robot: Text(0.0, 0.0, 'Puma 560')
+>>>
+```
+and you are dropped into an IPython session after the script has run.
+
+## Issues running on Apple Silicon
+
+Check out the [wiki page](https://github.com/petercorke/RVC3-python/wiki/Running-on-Apple-Silicon).
+
+## Using Jupyter and Colab
+
+Graphics and animations are problematic in these environments, some things work
+well, some don't.  As much as possible I've tweaked the Jupyter notebooks to work
+as best they can in these environments.
+
+For local use the [Jupyter plugin for Visual Studio Code](https://marketplace.visualstudio.com/items?itemName=ms-toolsai.jupyter) is pretty decent.  Colab suffers
+from old versions of major packages (though they are getting better at keeping up to date)
+and animations can suffer from slow update over the network.
 ## Other command line tools
 
-This package provides additional command line tools including:
+Additional command line tools available (from the Robotics Toolbox) include:
 - `eigdemo`, animation showing linear transformation of a rotating unit vector
   which demonstrates eigenvalues and eigenvectors.
-- `tripleangledemo`, experiment with various triple-angle sequences.
-- `twistdemo`, experiment with 3D twists.
+- `tripleangledemo`, Swift visualization that lets you experiment with various triple-angle sequences.
+- `twistdemo`, Swift visualization that lets you experiment with 3D twists. The screw axis is the blue rod and you can
+   position and orient it using the sliders, and adjust its pitch. Then apply a rotation
+   about the screw using the bottom slider.
 # Block diagram models
 
 <a href="https://github.com/petercorke/bdsim"><img
@@ -246,7 +345,7 @@ This GitHub repo provides additional resources for readers including:
 - All example scripts, see the [`examples`](examples) folder.
 - To run the visual odometry example in Sect. 14.8.3 you need to download two image sequence, each over 100MB, [see the instructions here](https://github.com/petercorke/machinevision-toolbox-python/blob/master/mvtb-data/README.md#install-big-image-files). 
 
-To get this material you must clone the repo
+To get that material you must clone the repo
 ```shell
 git clone https://github.com/petercorke/RVC3-python.git
 ```

rvc3python-0.2.3/rvc3python.egg-info/PKG-INFO → rvc3python-0.9.1/README.md

@@ -1,25 +1,3 @@
-Metadata-Version: 2.1
-Name: rvc3python
-Version: 0.2.3
-Summary: Support for book: Robotics, Vision & Control 3 in Python
-Home-page: https://github.com/petercorke/RVC3-python
-Author: Peter Corke
-License: MIT
-Project-URL: Documentation, https://petercorke.github.io/RVC3-python
-Project-URL: Source, https://github.com/petercorke/RVC3-python
-Project-URL: Tracker, https://github.com/petercorke/RVC3-python/issues
-Keywords: robotics,robot,manipulator,robot arm,mobile robot,mobile manipulation,path planning,SLAM,pose graph,Dubins,Reeds-Shepp,lattice planner,RRT,PRM,rapidly exploring random tree,probabilistic roadmap planner,force control,kinematics,Jacobian,position control,velocity control,spatial math,SO(2),SE(2),SO(3),SE(3),twist,product of exponential,translation,orientation,angle-axis,Lie group,skew symmetric matrix,pose,translation,rotation matrix,rigid body transform,homogeneous transformation,Euler angles,roll-pitch-yaw angles,quaternion,unit-quaternioncomputer vision,machine vision,robotic vision,color space,blackbody,image segmentation,blobs,Hough transform,k-means,homography,camera calibration,visual odometry,bundle adjustment,stereo vision,rectification
-Classifier: Development Status :: 4 - Beta
-Classifier: Intended Audience :: Developers
-Classifier: License :: OSI Approved :: MIT License
-Classifier: Programming Language :: Python :: 3.7
-Classifier: Programming Language :: Python :: 3.8
-Classifier: Programming Language :: Python :: 3.9
-Requires-Python: >=3.7
-Description-Content-Type: text/markdown
-Provides-Extra: pytorch
-License-File: LICENSE
-
 # Robotics, Vision & Control: 3rd edition in Python (2023)
 [![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/master/.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)
@@ -29,22 +7,41 @@ License-File: LICENSE
 ![PyPI - Python Version](https://img.shields.io/pypi/pyversions/rvc3python.svg)
 [![PyPI - Downloads](https://img.shields.io/pypi/dw/rvc3python)](https://pypistats.org/packages/rvc3python)
 
-
-coming soon, this is a work in progress, please don't post issues
-
+<table style="border:0px">
+<tr style="border:0px">
+<td style="border:0px">
 <img src="https://github.com/petercorke/RVC3-python/raw/main/doc/frontcover.png" alt="Front cover 978-3-031-06468-5_5208" width="300">
-
-This book depends on the following open-source Python packages
-
-<a href="https://github.com/petercorke/robotics-toolbox-python"><img alt="Robotics Toolbox for Python" src="https://github.com/petercorke/robotics-toolbox-python/raw/master/docs/figs/RobToolBox_RoundLogoB.png" width="150"></a>
+</td>
+<td style="border:0px">
+Welcome to the online hub for the book:
+<ul type="none">
+<li><b>Robotics, Vision & Control</b>: fundamental algorithms in Python (3rd edition) 
+<li>Peter Corke, published by Springer-Nature 2023.</li>
+<li><b>ISBN</b> 978-3-031-06468-5 (hardcopy), 978-3-031-06469-2 (eBook)</li>
+<li><b>DOI</b> <a href="https://doi.org/10.1007/978-3-031-06469-2">10.1007/978-3-031-06469-2</a></li>
+</ul>
+<br><br>
+<p>Report an issue with the book or its supporting code <a href="https://github.com/petercorke/RVC3-python/issues/new/choose">here</a>.</p>
+
+<p>Known errata for the book can be viewed <a href="https://github.com/petercorke/RVC3-python/wiki/Errata">here</a>.</p>
+</td>
+</tr>
+</table>
+
+
+This book uses many examples based on the following open-source Python packages
+
+<a href="https://github.com/petercorke/robotics-toolbox-python"><img alt="Robotics Toolbox for Python" src="https://github.com/petercorke/robotics-toolbox-python/raw/master/docs/figs/RobToolBox_RoundLogoB.png" width="130"></a>
 <a href="https://github.com/petercorke/machinevision-toolbox-python"><img alt="Machine Vision Toolbox for Python" src="https://github.com/petercorke/machinevision-toolbox-python/raw/master/figs/VisionToolboxLogo_NoBackgnd@2x.png" width="150"></a>
+<a href="https://github.com/petercorke/spatialmath-python"><img alt="Spatial Maths Toolbox for Python" src="https://github.com/petercorke/spatialmath-python/raw/master/docs/figs/CartesianSnakes_LogoW.png" width="130"></a>
+<a href="https://github.com/petercorke/bdsim"><img alt="Block diagram simulation for Python" src="https://github.com/petercorke/bdsim/raw/master/figs/BDSimLogo_NoBackgnd@2x.png" width="250"></a>
 
-which in turn have dependencies on other packages created by the author and
+**Robotics Toolbox for Python**, **Machine Vision Toolbox for Python**, **Spatial Maths Toolbox for Python**, **Block Diagram Simulation for Python**.  These in turn have dependencies on other packages created by the author and
 third parties.
 
 ## Installing the package
 
-This package provides a simple one-step installation of the required Toolboxes
+This package provides a simple one-step installation of *all* the required Toolboxes
 ```shell
 pip install rvc3python
 ```
@@ -53,11 +50,24 @@ or
 conda install rvc3python
 ```
 
+There are a lot of dependencies and this might take a minute or so.  You now have a very
+powerful computing environment for robotics and computer vision.
+
+### Python version
+
+Given the rapid rate of language additions, particularly around type hinting, use at
+least Python 3.8.  Python 3.7 goes end of life in June 2023.
+
+Not all package dependencies will work with the latest release of Python.  In particular, check:
+* [PyTorch](https://pypi.org/project/torch/) used for segmentation examples in Chapter 12
+* [Open3D](https://pypi.org/project/open3d), used for point cloud examples in Chapter 14.
+
 ### Installing into a Conda environment
 
 It's probably a good idea to create a virtual environment to keep this package
-and its dependencies separated from your other Python code and projects.  This
-is really easy using Conda conda, and only adds a couple of extra lines
+and its dependencies separated from your other Python code and projects.  If you've
+never used virtual environments before this might be a good time to start, and it
+is really easy [using Conda](https://conda.io/projects/conda/en/latest/user-guide/install/index.html):
 ```shell
 conda create -n RVC3 python=3.10
 conda activate RVC3
@@ -73,7 +83,7 @@ pip install rvc3python[pytorch]
 ```
 or
 ```shell
-conda install rvc3python[pytorch]
+conda install rvc3python
 ```
 ## Using the Toolboxes
 
@@ -87,36 +97,43 @@ $ rvctool
 |  _ < (_) | |_) | (_) | |_| | (__\__ \_    \ V / | \__ \ | (_) | | | | | (_>  < | |__| (_) | | | | |_| | | (_) | |  ___) |
 |_| \_\___/|_.__/ \___/ \__|_|\___|___( )    \_/  |_|___/_|\___/|_| |_|  \___/\/  \____\___/|_| |_|\__|_|  \___/|_| |____/ 
                                       |/                                                                                   
-for Python (RTB==1.0.2, MVTB==0.9.1, SMTB==1.0.0)
-
-import numpy as np
-import scipy as sp
-import matplotlib.pyplot as plt
-from math import pi
-from spatialmath import *
-from spatialmath.base import *
-from roboticstoolbox import *
-from machinevisiontoolbox import *
-import machinevisiontoolbox.base as mvbase
-
-func/object?       - show brief help
-help(func/object)  - show detailed help
-func/object??      - show source code
-
+                                                                                 
+for Python (RTB==1.1.0, MVTB==0.9.5, SG==1.1.7, SMTB==1.1.7, NumPy==1.24.2, SciPy==1.10.1, Matplotlib==3.7.1)
+
+    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 *
+    from roboticstoolbox import *
+    from machinevisiontoolbox import *
+    import machinevisiontoolbox.base as mvb
+    
+    # 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
 
 Results of assignments will be displayed, use trailing ; to suppress
-
- 
-Python 3.8.5 (default, Sep  4 2020, 02:22:02) 
+    
+Python 3.10.9 | packaged by conda-forge | (main, Feb  2 2023, 20:24:27) [Clang 14.0.6 ]
 Type 'copyright', 'credits' or 'license' for more information
-IPython 8.0.1 -- An enhanced Interactive Python. Type '?' for help.
+IPython 8.11.0 -- An enhanced Interactive Python. Type '?' for help.
 
 
 >>> 
 ```
 
-This provides an interactive Python (IPython) session with all the Toolboxes
-preloaded, and ready to go.  It's a highly capable, convenient, and
+This provides an interactive Python
+([IPython](https://ipython.readthedocs.io/en/stable)) session with all the Toolboxes and
+supporting packages imported, and ready to go.  It's a highly capable, convenient, and
 "MATLAB-like" workbench environment for robotics and computer vision.
 
 For example to load an ETS model of a Panda robot, solve a forward kinematics
@@ -176,7 +193,8 @@ matches
 
 `rvctool` is a wrapper around
 [IPython](https://ipython.readthedocs.io/en/stable) where:
-- functions and classes can be accessed without needing package prefixes
+- robotics and vision functions and classes can be accessed without needing
+  package prefixes
 - results are displayed by default like MATLAB does, and like MATLAB you need to
   put a semicolon on the end of the line to prevent this
 - the prompt is the standard Python REPL prompt `>>>` rather than the IPython
@@ -189,16 +207,64 @@ examples.
 
 `rvctool` imports the all the above mentioned packages using `import *` which is
 not considered best Python practice.  It is very convenient for interactive
-experimentation, but in your own code you can control the imports as you see
+experimentation, but in your own code you can handle the imports as you see
 fit.
 
+### Cutting and pasting
+
+IPython is very forgiving when it comes to cutting and pasting in blocks of Python
+code.  It will strip off the `>>>` prompt character and ignore indentation.  The normal
+python REPL is not so forgiving.  IPython also maintains a command history and
+allows command editing.
+### Simple scripting
+You can write very simple scripts, for example `test.py` is
+
+```python
+T = puma.fkine(puma.qn)
+sol = puma.ikine_LM(T)
+sol.q
+puma.plot(sol.q);
+```
+
+then 
+
+```shell
+$ rvctool test.py
+   0         0         1         0.5963    
+   0         1         0        -0.1501    
+  -1         0         0         0.6575    
+   0         0         0         1         
+
+IKSolution(q=array([7.235e-08,  -0.8335,  0.09396,    3.142,   0.8312,   -3.142]), success=True, iterations=15, searches=1, residual=1.406125546650288e-07, reason='Success')
+array([7.235e-08,  -0.8335,  0.09396,    3.142,   0.8312,   -3.142])
+PyPlot3D backend, t = 0.05, scene:
+  robot: Text(0.0, 0.0, 'Puma 560')
+>>>
+```
+and you are dropped into an IPython session after the script has run.
+
+## Issues running on Apple Silicon
+
+Check out the [wiki page](https://github.com/petercorke/RVC3-python/wiki/Running-on-Apple-Silicon).
+
+## Using Jupyter and Colab
+
+Graphics and animations are problematic in these environments, some things work
+well, some don't.  As much as possible I've tweaked the Jupyter notebooks to work
+as best they can in these environments.
+
+For local use the [Jupyter plugin for Visual Studio Code](https://marketplace.visualstudio.com/items?itemName=ms-toolsai.jupyter) is pretty decent.  Colab suffers
+from old versions of major packages (though they are getting better at keeping up to date)
+and animations can suffer from slow update over the network.
 ## Other command line tools
 
-This package provides additional command line tools including:
+Additional command line tools available (from the Robotics Toolbox) include:
 - `eigdemo`, animation showing linear transformation of a rotating unit vector
   which demonstrates eigenvalues and eigenvectors.
-- `tripleangledemo`, experiment with various triple-angle sequences.
-- `twistdemo`, experiment with 3D twists.
+- `tripleangledemo`, Swift visualization that lets you experiment with various triple-angle sequences.
+- `twistdemo`, Swift visualization that lets you experiment with 3D twists. The screw axis is the blue rod and you can
+   position and orient it using the sliders, and adjust its pitch. Then apply a rotation
+   about the screw using the bottom slider.
 # Block diagram models
 
 <a href="https://github.com/petercorke/bdsim"><img
@@ -246,7 +312,7 @@ This GitHub repo provides additional resources for readers including:
 - All example scripts, see the [`examples`](examples) folder.
 - To run the visual odometry example in Sect. 14.8.3 you need to download two image sequence, each over 100MB, [see the instructions here](https://github.com/petercorke/machinevision-toolbox-python/blob/master/mvtb-data/README.md#install-big-image-files). 
 
-To get this material you must clone the repo
+To get that material you must clone the repo
 ```shell
 git clone https://github.com/petercorke/RVC3-python.git
 ```

rvc3python-0.9.1/RVC3/__init__.py

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

rvc3python-0.9.1/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()