rvc3python 0.9.2__tar.gz → 1.0.0__tar.gz

{rvc3python-0.9.2/rvc3python.egg-info → rvc3python-1.0.0}/PKG-INFO

@@ -1,6 +1,6 @@
-Metadata-Version: 2.1
+Metadata-Version: 2.4
 Name: rvc3python
-Version: 0.9.2
+Version: 1.0.0
 Summary: Support for book: Robotics, Vision & Control 3 in Python
 Author-email: Peter Corke <rvc@petercorke.com>
 Project-URL: Homepage, https://github.com/petercorke/RVC3-python
@@ -9,37 +9,58 @@ Project-URL: Source, https://github.com/petercorke/RVC3-python
 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: 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: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3.14
 Classifier: License :: OSI Approved :: MIT License
 Classifier: Operating System :: OS Independent
-Requires-Python: >=3.7
+Requires-Python: >=3.10
 Description-Content-Type: text/markdown
 License-File: LICENSE
 Requires-Dist: matplotlib
-Requires-Dist: numpy<2
+Requires-Dist: numpy>1
 Requires-Dist: roboticstoolbox-python>=1
 Requires-Dist: machinevision-toolbox-python
-Requires-Dist: bdsim>=1.1
+Requires-Dist: bdsim
 Requires-Dist: IPython
+Requires-Dist: ipykernel
+Requires-Dist: ipympl
 Requires-Dist: sympy
-Requires-Dist: pybullet
 Provides-Extra: pytorch
 Requires-Dist: torch; extra == "pytorch"
 Requires-Dist: torchvision; extra == "pytorch"
+Provides-Extra: dev
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: nbstripout; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: nbformat; extra == "dev"
+Requires-Dist: nbclient; extra == "dev"
+Provides-Extra: figures
+Requires-Dist: pyvista; extra == "figures"
+Requires-Dist: vtk; extra == "figures"
+Requires-Dist: pillow; extra == "figures"
+Dynamic: license-file
 
 # 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)
-[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
 
+### Status & Project Health
 [![PyPI version](https://badge.fury.io/py/rvc3python.svg)](https://badge.fury.io/py/rvc3python)
+[![Downloads](https://static.pepy.tech/badge/rvc3python/month)](https://pepy.tech/projects/rvc3python)
 ![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)
+[![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/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)
+
+> [!NOTE]
+> **Actively maintained — August 2026.** Every chapter notebook, the CLI
+> tools (`rvctool`, `bdsim_path`, `rvc3-model`), and the packaging have
+> been re-verified against current RTB/MVTB/SMTB/bdsim releases and fixed
+> where they'd drifted. See [`errata.md`](errata.md) for the full list of
+> what changed and why.
 
 <table style="border:0px">
 <tr style="border:0px">
@@ -66,9 +87,9 @@ Welcome to the online hub for the book:
 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/machinevision-toolbox-python"><img alt="Machine Vision Toolbox for Python" src="https://github.com/petercorke/machinevision-toolbox-python/raw/main/docs/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>
+<a href="https://github.com/petercorke/bdsim"><img alt="Block diagram simulation for Python" src="https://github.com/petercorke/bdsim/raw/main/docs/figs/bdsim_logo.png" width="250"></a>
 
 **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.
@@ -87,14 +108,35 @@ 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.
 
+To check everything installed and works correctly, run
+```shell
+rvctool --test
+```
+This is a quick, non-interactive check that prints package versions and exercises one
+real code path per toolbox (RTB, MVTB, spatialgeometry, spatialmath, bdsim, and Open3D
+if installed), reporting PASS/FAIL for each rather than just "it imported".
+
+> [!NOTE]
+> `pip`/`conda install` gives you the importable support code only. Jupyter
+> notebooks, figure-generation scripts, and example data live in this
+> GitHub repo — see [Additional book resources](#additional-book-resources)
+> below, or just `git clone` now.
+
 ### 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.
+`rvc3python` requires **Python 3.10 or later**.
 
-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.
+A handful of book examples need extra, optional packages that aren't installed by
+default — each has its own platform or Python-version limits, worth knowing about
+before you hit them as a surprise rather than as a bug:
+* [PyTorch](https://pypi.org/project/torch/) (`pip install rvc3python[pytorch]`) —
+  used for the segmentation and object-detection examples in Chapter 12. Check
+  current platform support before installing.
+* [Open3D](https://pypi.org/project/open3d) (`pip install machinevision-toolbox-python[open3d]`)
+  — used for the point cloud examples in Chapter 14. Doesn't yet ship wheels for
+  Python 3.13+.
+* [coal](https://pypi.org/project/coal) (`pip install roboticstoolbox-python[collision]`)
+  — used for the collision-checking examples in Chapter 7. Not available on Windows.
 
 ### Installing into a Conda environment
 
@@ -103,14 +145,14 @@ and its dependencies separated from your other Python code and projects.  If you
 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 create -n RVC3 python=3.12
 conda activate RVC3
 pip install rvc3python
 ```
 
 ### Installing deep learning tools
 
-Chapter 11 has some deep learning examples based on PyTorch.  If you don't have 
+Chapter 12 has some deep learning examples based on PyTorch.  If you don't have 
 PyTorch installed you can use the `pytorch` install option
 ```shell
 pip install rvc3python[pytorch]
@@ -119,6 +161,26 @@ or
 ```shell
 conda install rvc3python
 ```
+
+## Additional book resources
+
+<img src="https://github.com/petercorke/RVC3-python/raw/main/doc/frontcover.png" alt="Front cover 978-3-031-06468-5_5208" width="100">
+
+This GitHub repo provides additional resources for readers including:
+- Jupyter notebooks containing all code lines from each chapter, see
+  the [`notebooks`](notebooks) folder
+- The code to produce every Python/Matplotlib (2D) figure in the book, see the [`figures`](figures) folder
+- 3D points clouds from chapter 14, and the code to create them, see
+  the [`figures/pointclouds`](figures/pointclouds) folder.
+- 3D figures from chapters 2-3, 7-9, and the code to create them, see the [`figures/3d`](figures/3d) folder.
+- All example scripts, see the [`RVC3/examples`](RVC3/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/main/packages/mvtb-data/README.md#install-really-big-image-files). 
+
+To get that material you must clone the repo
+```shell
+git clone https://github.com/petercorke/RVC3-python.git
+```
+
 ## Using the Toolboxes
 
 The simplest way to get going is to use the command line tool
@@ -132,7 +194,7 @@ $ rvctool
 |_| \_\___/|_.__/ \___/ \__|_|\___|___( )    \_/  |_|___/_|\___/|_| |_|  \___/\/  \____\___/|_| |_|\__|_|  \___/|_| |____/ 
                                       |/                                                                                   
                                                                                  
-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)
+for Python (RTB==1.3.1, MVTB==2.3.0, SG==1.3.0, SMTB==1.1.16, NumPy==2.5.2, SciPy==1.18.0, Matplotlib==3.11.1)
 
     import math
     import numpy as np
@@ -156,13 +218,10 @@ for Python (RTB==1.1.0, MVTB==0.9.5, SG==1.1.7, SMTB==1.1.7, NumPy==1.24.2, SciP
     func/object??      - show source code
 
 Results of assignments will be displayed, use trailing ; to suppress
-    
-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 8.11.0 -- An enhanced Interactive Python. Type '?' for help.
 
+Default numeric formatting: %.3g
 
->>> 
+RVC3 >>>
 ```
 
 This provides an interactive Python
@@ -174,7 +233,7 @@ For example to load an ETS model of a Panda robot, solve a forward kinematics
 and inverse kinematics problem, and an interactive graphical display is simply:
 
 ```python
->>> panda = models.ETS.Panda()
+RVC3 >>> panda = models.ETS.Panda()
 ERobot: Panda (by Franka Emika), 7 joints (RRRRRRR)
 ┌─────┬───────┬───────┬────────┬─────────────────────────────────────────────┐
 │link │ link  │ joint │ parent │             ETS: parent to link             │
@@ -196,34 +255,34 @@ ERobot: Panda (by Franka Emika), 7 joints (RRRRRRR)
 │  qz │  0° │  0°    │  0° │  0°   │  0° │  0°   │  0°  │
 └─────┴─────┴────────┴─────┴───────┴─────┴───────┴──────┘
 
->>> panda.fkine(panda.qz)
+RVC3 >>> panda.fkine(panda.qz)
    0.7071    0.7071    0         0.088     
    0.7071   -0.7071    0         0         
    0         0        -1         0.823     
    0         0         0         1      
->>> panda.ikine_LM(SE3.Trans(0.4, 0.5, 0.2) * SE3.Ry(pi/2))
+RVC3 >>> panda.ikine_LM(SE3.Trans(0.4, 0.5, 0.2) * SE3.Ry(pi/2))
 IKSolution(q=array([  -1.849,   -2.576,   -2.914,     1.22,   -1.587,    2.056,   -1.013]), success=True, iterations=13, searches=1, residual=3.3549072615799585e-10, reason='Success')
->>> panda.teach(panda.qz)
+RVC3 >>> panda.teach(panda.qz)
 ```
 ![](https://github.com/petercorke/RVC3-python/raw/main/doc/panda_noodle.png)
 
 Computer vision is just as easy.  For example, we can import an image, blur it
 and display it alongside the original
 ```python
->>> mona = Image.Read("monalisa.png")
->>> Image.Hstack([mona, mona.smooth(sigma=5)]).disp()
+RVC3 >>> mona = Image.Read("monalisa.png")
+RVC3 >>> Image.Hstack([mona, mona.smooth(sigma=5)]).disp()
 ```
-![](https://github.com/petercorke/machinevision-toolbox-python/raw/master/figs/mona%2Bsmooth.png)
+![](https://github.com/petercorke/machinevision-toolbox-python/raw/main/docs/figs/mona%2Bsmooth.png)
 
 or load two images of the same scene, compute SIFT features and display putative
 matches
 ```python
->>> sf1 = Image.Read("eiffel-1.png", mono=True).SIFT()
->>> sf2 = Image.Read("eiffel-2.png", mono=True).SIFT()
->>> matches = sf1.match(sf2)
->>> matches.subset(100).plot("w")
+RVC3 >>> sf1 = Image.Read("eiffel-1.png", mono=True).SIFT()
+RVC3 >>> sf2 = Image.Read("eiffel-2.png", mono=True).SIFT()
+RVC3 >>> matches = sf1.match(sf2)
+RVC3 >>> matches.subset(100).plot("w")
 ```
-![](https://github.com/petercorke/machinevision-toolbox-python/raw/master/figs/matching.png)
+![](https://github.com/petercorke/machinevision-toolbox-python/raw/main/docs/figs/matching.png)
 
 `rvctool` is a wrapper around
 [IPython](https://ipython.readthedocs.io/en/stable) where:
@@ -231,8 +290,10 @@ matches
   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
-  prompt, this can be overridden by a command-line switch
+- the prompt is `RVC3 >>> ` by default, distinct from a plain Python or
+  IPython prompt so a transcript is recognisable at a glance; override it
+  with `--prompt`, or pass `--book` to match the book's printed transcripts
+  exactly (plain `>>> `, no `Out[N]:` labels, no ANSI matrix colouring)
 - allows cutting and pasting in lines from the book, and prompt characters are
   ignored
 
@@ -273,14 +334,10 @@ IKSolution(q=array([7.235e-08,  -0.8335,  0.09396,    3.142,   0.8312,   -3.142]
 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')
->>>
+RVC3 >>>
 ```
 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
@@ -299,54 +356,37 @@ Additional command line tools available (from the Robotics Toolbox) include:
 - `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
+## Block diagram models
 
 <a href="https://github.com/petercorke/bdsim"><img
-src="https://github.com/petercorke/bdsim/raw/master/figs/BDSimLogo_NoBackgnd%402x.png"
+src="https://github.com/petercorke/bdsim/raw/main/docs/figs/bdsim_logo.png"
 alt="bdsim logo" width="300"></a>
 
 Block diagram models are key to the pedagogy of the RVC3 book and 25 models are
 included. To simulate these models we use the Python package
 [bdsim](https://github.com/petercorke/bdsim) which can run models:
 
-- written in Python using
-  [bdsim](https://github.com/petercorke/bdsim#getting-started) blocks and
-  wiring.
-- created graphically using
-  [bdedit](https://github.com/petercorke/bdsim#bdedit-the-graphical-editing-tool)
-  and saved as a `.bd` (JSON format) file.
-
-The models are included in the `RVC3` package when it is installed and `rvctool`
-adds them to the module search path.  This means you can invoke them from
-`rvctool` by
-```python
->>> %run -m vloop_test
-```
-
-If you want to directly access the folder containing the models, the command
-line tool
-```shell
-bdsim_path
-```
-will display the full path to where they have been installed in the Python
-package tree.
-
-
-# Additional book resources
-
-<img src="https://github.com/petercorke/RVC3-python/raw/main/doc/frontcover.png" alt="Front cover 978-3-031-06468-5_5208" width="100">
-
-This GitHub repo provides additional resources for readers including:
-- Jupyter notebooks containing all code lines from each chapter, see
-  the [`notebooks`](notebooks) folder
-- The code to produce every Python/Matplotlib (2D) figure in the book, see the [`figures`](figures) folder
-- 3D points clouds from chapter 14, and the code to create them, see
-  the [`pointclouds`](../pointclouds) folder.
-- 3D figures from chapters 2-3, 7-9, and the code to create them, see the [`3dfigures`](../3dfigures) folder.
-- 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 that material you must clone the repo
-```shell
-git clone https://github.com/petercorke/RVC3-python.git
-```
+- written in Python using [bdsim](https://github.com/petercorke/bdsim) blocks
+  and wiring.
+- created graphically using `bdedit`, bdsim's graphical editor, and saved as
+  a `.bd` (JSON format) file.
+
+The models are included in the `RVC3` package when it is installed. There
+are three ways to run one:
+
+- From inside `rvctool` (or any Jupyter notebook), `%run -i` shares the
+  current namespace, which some models rely on:
+  ```python
+  RVC3 >>> %run -i vloop_test
+  ```
+- From a bare shell, the `rvc3-model` command runs a model directly —
+  no `rvctool`/Jupyter session needed:
+  ```shell
+  $ rvc3-model vloop_test
+  ```
+  Run `rvc3-model` with no arguments to list every model by name.
+- To find where the models are installed on disk (e.g. to open a `.py` or
+  `.bd` file directly in an editor), use `bdsim_path`:
+  ```shell
+  $ bdsim_path
+  ```