spatialgeometry 1.0.3__tar.gz → 1.2.0__tar.gz

spatialgeometry-1.2.0/.gitattributes

@@ -0,0 +1 @@
+spatialgeometry/core/Eigen/** linguist-vendored

spatialgeometry-1.2.0/.github/Makefile

@@ -0,0 +1,44 @@
+.FORCE:
+
+BLUE=\033[0;34m
+BLACK=\033[0;30m
+
+help:
+	@echo "$(BLUE) make test - run all unit tests"
+	@echo " make coverage - run unit tests and coverage report"
+	@echo " make docs - build Sphinx documentation"
+	@echo " make docupdate - upload Sphinx documentation to GitHub pages"
+	@echo " make dist - build dist files"
+	@echo " make upload - upload to PyPI"
+	@echo " make clean - remove dist and docs build files"
+	@echo " make help - this message$(BLACK)"
+
+test:
+	pytest
+
+coverage:
+	coverage run --omit=\*/test_\* -m unittest
+	coverage report
+
+docs: .FORCE
+	(cd docs; make html)
+
+docupdate: docs
+	git clone https://github.com/petercorke/roboticstoolbox-python.git --branch gh-pages --single-branch gh-pages
+	cp -r docs/build/html/. gh-pages
+	git add gh-pages
+	git commit -m "rebuilt docs"
+	git push origin gh-pages
+
+dist: .FORCE
+	$(MAKE) test
+	python setup.py sdist
+
+upload: .FORCE
+	twine upload dist/*
+
+clean: .FORCE
+	(cd docs; make clean)
+	-rm -r *.egg-info
+	-rm -r dist
+

spatialgeometry-1.2.0/.github/workflows/build.yml

@@ -0,0 +1,102 @@
+# Run tests and build/deploy docs.
+# Triggers on pushes to main and on PRs targeting main.
+
+name: Run Tests and Build Docs
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  unittest:
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        os: [windows-latest, ubuntu-latest, macos-latest]
+        python-version: ["3.10", "3.11", "3.12", "3.13"]
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python ${{ matrix.python-version }}
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+      - name: Test with pytest
+        run: |
+          pip install .[dev,collision]
+          pip install pytest-timeout
+          pytest --timeout=30 --timeout_method thread -s
+
+  codecov:
+    # If all tests pass:
+    # Run coverage and upload to codecov
+    needs: unittest
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+      - name: Run coverage
+        run: |
+          pip install -e .[dev,collision]
+          pytest --cov=spatialgeometry --cov-report xml:coverage.xml
+          coverage report
+      - name: upload coverage to Codecov
+        uses: codecov/codecov-action@v4
+        with:
+          file: ./coverage.xml
+
+  docs-build:
+    needs: unittest
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: actions/setup-python@v5
+        with:
+          python-version: "3.12"
+
+      - name: Install docs dependencies
+        run: |
+          pip install .[docs]
+          pip install sympy
+          sudo apt-get install -y graphviz
+
+      - name: Build docs
+        run: |
+          cd docs && make html
+          touch build/html/.nojekyll
+
+      - name: Upload Pages artifact
+        uses: actions/upload-pages-artifact@v3
+        with:
+          path: docs/build/html
+
+  # Separate job so the github-pages environment (and its deployment
+  # 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 runs would
+  # otherwise show a false "failed to deploy to github-pages".
+  docs-deploy:
+    needs: docs-build
+    if: github.ref == 'refs/heads/main'
+    runs-on: ubuntu-latest
+    permissions:
+      pages: write
+      id-token: write
+    environment:
+      name: github-pages
+      url: ${{ steps.deploy.outputs.page_url }}
+    steps:
+      - name: Deploy to GitHub Pages
+        id: deploy
+        uses: actions/deploy-pages@v4

spatialgeometry-1.2.0/.github/workflows/cibuildwheel.yml

@@ -0,0 +1,123 @@
+# Build wheels for all platforms and publish to PyPI.
+# Triggered on GitHub release creation or manually via workflow_dispatch.
+#
+# Uses OIDC trusted publishing -- no stored PyPI token required.
+
+name: Publish to PyPI
+
+on:
+  release:
+    types: [created]
+  workflow_dispatch:
+
+jobs:
+  build_wheels:
+    name: Build compiled wheels on ${{ matrix.os }} (${{ matrix.arch }})
+    runs-on: ${{ matrix.os }}
+    strategy:
+      matrix:
+        include:
+          - os: ubuntu-latest
+            arch: x86_64
+          - os: ubuntu-24.04-arm
+            arch: arm64
+          - os: windows-latest
+            arch: x86_64
+          - os: macos-latest
+            arch: arm64
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build wheels
+        uses: pypa/cibuildwheel@v3.4.1
+        env:
+          CIBW_BUILD_VERBOSITY: 1
+          # Only build CPython 3.10-3.13; skip PyPy and free-threaded builds.
+          CIBW_BUILD: "cp310-* cp311-* cp312-* cp313-*"
+          CIBW_SKIP: "pp* cp313t-* *musllinux*"
+          # Only build for this runner's native arch (no QEMU cross-compilation).
+          CIBW_ARCHS: native
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.os }}
+          path: ./wheelhouse/*.whl
+
+  build_pyodide:
+    name: Build Pyodide (wasm32) wheel
+    runs-on: ubuntu-latest
+    continue-on-error: true
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build Pyodide wheel
+        uses: pypa/cibuildwheel@v3.4.1
+        env:
+          CIBW_PLATFORM: pyodide
+
+      - uses: actions/upload-artifact@v4
+        if: success()
+        with:
+          name: pyodide-wheel
+          path: ./wheelhouse/*.whl
+
+  build_sdist:
+    name: Build source distribution
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Build sdist
+        run: pipx run build --sdist
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: sdist
+          path: dist/*.tar.gz
+
+  # PyPI rejects the pyodide_* platform tag, so attach it to the GitHub
+  # Release as a downloadable asset instead -- same pattern as RTB's own
+  # release.yml, which is where a future RTB fix for its own JupyterLite
+  # build (it needs a wasm spatialgeometry wheel now that it depends on
+  # the real package instead of vendoring a pure-Python copy) would fetch
+  # this from.
+  upload_pyodide_asset:
+    name: Attach Pyodide wheel to GitHub release
+    needs: build_pyodide
+    if: github.event_name == 'release' && needs.build_pyodide.result == 'success'
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: pyodide-wheel
+          path: pyodide-dist
+
+      - name: Upload Pyodide wheel as release asset
+        uses: softprops/action-gh-release@v3
+        with:
+          tag_name: ${{ github.ref_name }}
+          files: pyodide-dist/*.whl
+
+  upload_pypi:
+    needs: [build_wheels, build_sdist]
+    runs-on: ubuntu-latest
+    environment: pypi
+    permissions:
+      id-token: write # required for OIDC trusted publishing
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: wheels-*
+          merge-multiple: true
+          path: dist
+
+      - uses: actions/download-artifact@v4
+        with:
+          name: sdist
+          path: dist
+
+      - uses: pypa/gh-action-pypi-publish@release/v1
+        with:
+          skip-existing: true

spatialgeometry-1.2.0/.gitignore

@@ -0,0 +1,185 @@
+# MacOS stuff
+**DS_STORE
+
+# Vim
+*.sw*
+
+.idea/*
+
+### VisualStudioCode ###
+.vscode/*
+#!.vscode/settings.json
+#!.vscode/tasks.json
+#!.vscode/launch.json
+#!.vscode/extensions.json
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+pip-wheel-metadata/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+wheelhouse/
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+### ROS ###
+devel/
+logs/
+bin/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+build_isolated/
+devel_isolated/
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+# Catkin custom files
+CATKIN_IGNORE
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history

spatialgeometry-1.2.0/CMakeLists.txt

@@ -0,0 +1,39 @@
+cmake_minimum_required(VERSION 3.15)
+project(${SKBUILD_PROJECT_NAME} LANGUAGES C CXX)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Locate Python (interpreter needed to find nanobind cmake dir)
+find_package(Python COMPONENTS Interpreter Development.Module REQUIRED)
+
+# Locate nanobind via the installed Python package
+execute_process(
+    COMMAND "${Python_EXECUTABLE}" -c "import nanobind; print(nanobind.cmake_dir())"
+    OUTPUT_VARIABLE NB_DIR
+    OUTPUT_STRIP_TRAILING_WHITESPACE
+)
+find_package(nanobind CONFIG REQUIRED HINTS "${NB_DIR}")
+
+# ---------------------------------------------------------------------------
+# scene — scene-graph transform propagation
+# Eigen is vendored as header-only (Core module only -- see
+# src/spatialgeometry/core/Eigen) in src/spatialgeometry/core/Eigen/
+# scene_nb.cpp is the nanobind glue; math lives inline in that file.
+#
+# Skipped entirely under Pyodide/Emscripten: no compiler there worth
+# targeting, and spatialgeometry.scene has a pure-Python fallback
+# (scene.py) for exactly this case -- CPython's import machinery prefers
+# a compiled extension module over a same-named .py file when both are
+# present, so building neither is what makes the fallback take over.
+# ---------------------------------------------------------------------------
+if(NOT CMAKE_SYSTEM_NAME STREQUAL "Emscripten")
+    nanobind_add_module(scene
+        src/spatialgeometry/core/scene_nb.cpp
+    )
+    target_include_directories(scene PRIVATE
+        src/spatialgeometry/core
+    )
+
+    install(TARGETS scene DESTINATION spatialgeometry)
+endif()

spatialgeometry-1.2.0/Makefile

@@ -0,0 +1,45 @@
+.FORCE:
+
+BLUE=\033[0;34m
+BLACK=\033[0;30m
+
+help:
+	@echo "$(BLUE) make test - run all unit tests"
+	@echo " make coverage - run unit tests and coverage report"
+	@echo " make docs - build Sphinx documentation"
+	@echo " make docupdate - upload Sphinx documentation to GitHub pages"
+	@echo " make dist - build dist files"
+	@echo " make upload - upload to PyPI"
+	@echo " make clean - remove dist and docs build files"
+	@echo " make help - this message$(BLACK)"
+
+test:
+	python -m pytest
+
+coverage:
+	coverage run --omit=\*/test_\* -m unittest
+	coverage report
+
+docs: .FORCE
+	(cd docs; make html)
+	open docs/build/html/index.html
+
+dist: .FORCE
+	#$(MAKE) test
+	python -m build
+
+pypi: .FORCE
+	validate-pyproject pyproject.toml
+	@if ! git diff --quiet || ! git diff --cached --quiet; then \
+		echo "Error: uncommitted changes present, aborting upload"; exit 1; \
+	fi
+	$(eval VERSION := $(shell grep '^version' pyproject.toml | sed 's/version = "\(.*\)"/\1/'))
+	python -m build
+	twine upload dist/*
+	git tag v$(VERSION)
+	git push origin v$(VERSION)
+
+clean: .FORCE
+	(cd docs; make clean)
+	-rm -r *.egg-info
+	-rm -r dist

spatialgeometry-1.2.0/PKG-INFO

@@ -0,0 +1,152 @@
+Metadata-Version: 2.2
+Name: spatialgeometry
+Version: 1.2.0
+Summary: A Shape and Geometry Description Package
+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>
+License: MIT License
+         
+         Copyright (c) 2021 Jesse Haviland
+         
+         Permission is hereby granted, free of charge, to any person obtaining a copy
+         of this software and associated documentation files (the "Software"), to deal
+         in the Software without restriction, including without limitation the rights
+         to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+         copies of the Software, and to permit persons to whom the Software is
+         furnished to do so, subject to the following conditions:
+         
+         The above copyright notice and this permission notice shall be included in all
+         copies or substantial portions of the Software.
+         
+         THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+         IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+         FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+         AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+         LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+         OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+         SOFTWARE.
+         
+Classifier: Development Status :: 5 - Production/Stable
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Project-URL: homepage, https://github.com/jhavl/spatialgeometry
+Project-URL: documentation, https://jhavl.github.io/spatialgeometry/
+Project-URL: repository, https://github.com/jhavl/spatialgeometry
+Requires-Python: >=3.10
+Requires-Dist: spatialmath-python>=1.0.0
+Provides-Extra: collision
+Requires-Dist: coal; sys_platform != "win32" and extra == "collision"
+Requires-Dist: trimesh; extra == "collision"
+Provides-Extra: dev
+Requires-Dist: black; extra == "dev"
+Requires-Dist: editables; extra == "dev"
+Requires-Dist: pytest; extra == "dev"
+Requires-Dist: pytest-cov; extra == "dev"
+Requires-Dist: flake8; extra == "dev"
+Requires-Dist: pyyaml; extra == "dev"
+Requires-Dist: coal; sys_platform != "win32" and extra == "dev"
+Requires-Dist: trimesh; extra == "dev"
+Provides-Extra: docs
+Requires-Dist: sphinx; extra == "docs"
+Requires-Dist: sphinx_rtd_theme; extra == "docs"
+Requires-Dist: sphinx-autorun; extra == "docs"
+Description-Content-Type: text/markdown
+
+# Spatial Geometry
+
+[![A Python Robotics Package](https://raw.githubusercontent.com/petercorke/robotics-toolbox-python/main/.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)
+
+[![PyPI version](https://badge.fury.io/py/spatialgeometry.svg)](https://badge.fury.io/py/spatialgeometry)
+[![Anaconda version](https://anaconda.org/conda-forge/spatialgeometry/badges/version.svg)](https://anaconda.org/conda-forge/spatialgeometry)
+![PyPI - Python Version](https://img.shields.io/pypi/pyversions/spatialgeometry.svg)
+[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
+
+[![Build Status](https://github.com/jhavl/spatialgeometry/actions/workflows/build.yml/badge.svg?branch=main)](https://github.com/jhavl/spatialgeometry/actions/workflows/build.yml)
+[![codecov](https://codecov.io/gh/jhavl/spatialgeometry/branch/main/graph/badge.svg?token=YPmchbQi2v)](https://codecov.io/gh/jhavl/spatialgeometry)
+
+[GitHub repository](https://github.com/jhavl/spatialgeometry) &nbsp;|&nbsp; [Documentation](https://jhavl.github.io/spatialgeometry)
+
+Spatial Geometry provides simple 3D shape primitives -- cuboids, cylinders,
+spheres, and triangle meshes -- for representing robot links, obstacles, and
+other geometry in a scene. Every shape carries a pose (position and
+orientation) and an optional colour, and can be tested for distance and
+collision against any other shape using [Coal](https://github.com/coal-library/coal).
+
+It's used by the [Robotics Toolbox for Python](https://github.com/petercorke/robotics-toolbox-python)
+to describe robot link geometry, and by [Swift](https://github.com/jhavl/swift)
+to render scenes in the browser.
+
+## Quick start
+
+```python
+import spatialgeometry as gm
+from spatialmath import SE3
+
+cube = gm.Cuboid([1, 1, 1], pose=SE3(0, 0, 0))
+sphere = gm.Sphere(0.5, pose=SE3(2, 0, 0), color="red")
+
+d, p1, p2 = cube.closest_point(sphere, inf_dist=10)
+cube.iscollided(sphere)
+```
+
+See the [documentation](https://jhavl.github.io/spatialgeometry) for the
+full API reference and more examples, including how to display shapes with
+Swift.
+
+## Installation
+
+### pip (standard)
+
+```shell
+pip install spatialgeometry
+```
+
+### JupyterLite / Pyodide
+
+For browser runtimes (JupyterLite/Pyodide), use a pure-Python wheel build:
+
+```shell
+SPATIALGEOMETRY_BUILD_EXTENSION=0 python -m build --wheel
+```
+
+This disables native C-extension compilation and produces a wheel that uses the
+Python scene backend (`spatialgeometry.scene`).
+
+> Collision functionality depends on [Coal](https://github.com/coal-library/coal)
+> and is not expected to work in JupyterLite.
+
+For collision support:
+
+```shell
+pip install spatialgeometry[collision]
+```
+
+This installs [Coal](https://github.com/coal-library/coal) and
+[trimesh](https://trimesh.org). Coal publishes prebuilt wheels for macOS
+(including Apple Silicon/arm64) and Linux — no conda or manual build steps
+required there.
+
+> **Windows note:** Coal doesn't currently install via pip on Windows (one
+> of its own dependencies, `cmeel-assimp`, has no Windows wheel in the
+> version range Coal needs), so the `collision` extra skips it there and
+> collision checking is unavailable via `pip` on Windows. Everything else
+> in the package works normally.
+
+### conda / conda-forge
+
+For development, the provided `environment.yml` installs the package in
+editable mode with all dev and collision extras:
+
+```shell
+conda env create -f environment.yml
+conda activate spatialgeometry-dev
+```
+
+## License
+
+MIT — see [LICENSE](LICENSE).