spatialgeometry 1.4.1__tar.gz → 1.4.2__tar.gz

{spatialgeometry-1.4.1 → spatialgeometry-1.4.2}/AGENTS.md

@@ -12,10 +12,11 @@ Part of the RVC ecosystem. **Read [rvc-ecosystem/AGENTS.md](https://github.com/p
 
 ## Notes specific to this repo
 
-- **This is not Peter's repo.** Collaborator push access exists but must never be used —
-  every change goes through a PR, even trivial docs fixes. If your local clone has a `fork`
-  remote (Peter's copy) and an `origin` remote (this upstream repo), push branches to `fork`
-  and open the PR from there. Never push to `origin`.
+- **This is not Peter's repo.** Every change goes through a PR, even trivial docs fixes;
+  merging is the owner's call, and `main` is branch-protected. Jesse confirmed (2026-09-14)
+  that branches may be pushed straight to `origin` and the PR opened from there, so no fork
+  is needed. Pushing to a personal `fork` remote instead is equally fine. Never push to
+  `main` directly.
 - Compiles `nanobind` C++ extensions via `scikit-build-core`.
 - Depends on `spatialmath` only. `robotics-toolbox-python` and `swift` both depend on this
   repo — a breaking API change here has two downstream repos to check.

{spatialgeometry-1.4.1 → spatialgeometry-1.4.2}/CHANGELOG.md

@@ -3,6 +3,21 @@
 Notable changes to this project are documented in this file. Starts from
 v1.2.0 — earlier releases aren't documented retroactively.
 
+## [Unreleased]
+
+## [1.4.2] - 2026-10-12
+
+### Changed
+
+- **`Axes` `color` now overrides the color of all three axes**, in both the
+  plain-line and `arrows=True` styles, and accepts a matplotlib color name or
+  an (r, g, b) / (r, g, b, a) tuple. Previously `color` was accepted but had
+  no effect on the rendered axes. With no color given the axes are still drawn
+  red/green/blue, and `Axes.to_dict()["color"]` is now `None` in that case
+  rather than the generic grey. Assigning `None` to `Axes.color` reverts to
+  red/green/blue. Needs a swift release that honors the override; older swift
+  keeps drawing red/green/blue.
+
 ## [1.4.1] - 2026-09-20
 
 ### New

{spatialgeometry-1.4.1 → spatialgeometry-1.4.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: spatialgeometry
-Version: 1.4.1
+Version: 1.4.2
 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>

{spatialgeometry-1.4.1 → spatialgeometry-1.4.2}/pyproject.toml

@@ -4,7 +4,7 @@ name = "spatialgeometry"
 
 description = "A Shape and Geometry Description Package"
 
-version = "1.4.1"
+version = "1.4.2"
 
 authors = [
     { name = "Jesse Haviland", email = "j.haviland@qut.edu.au" },

{spatialgeometry-1.4.1 → spatialgeometry-1.4.2}/src/spatialgeometry/geom/Shape.py

@@ -469,11 +469,27 @@ class Axes(Shape):
         and radius == 0. Passed straight through to each constituent
         Arrow.
     :type linewidth: float
+    :param color: If given, all three axes are drawn in this one color
+        (an (r, g, b) or (r, g, b, a) tuple, or a matplotlib color name),
+        whatever the value of ``arrows``. If omitted (or ``None``) the axes
+        are drawn red/green/blue for X/Y/Z, the usual convention.
+
+    .. note::
+        Unlike every other :class:`Shape`, an ``Axes`` has no single
+        default color. Until a color is set, :attr:`color` returns the
+        generic placeholder grey it inherits from :class:`Shape`, but this
+        is *not* what is rendered -- the per-axis red/green/blue is.
+        Assigning ``None`` to :attr:`color` reverts to red/green/blue.
 
     """
 
     _repr_params = ("length", "arrows", "radius", "linewidth")
 
+    # True once a color has been explicitly given, constructor or setter. A
+    # class attribute so it exists before Shape.__init__() runs, which only
+    # goes through the color setter when a color was passed.
+    _color_set: bool = False
+
     def __init__(
         self,
         length: float,
@@ -488,6 +504,18 @@ class Axes(Shape):
         self.radius = radius
         self.linewidth = linewidth
 
+    @Shape.color.setter
+    def color(self, value: ArrayLike | None) -> None:
+        # None means "no override": revert to red/green/blue, rather than
+        # Shape's behaviour of substituting a default color.
+        if value is None:
+            if self._added_to_swift:
+                self._changed = True
+            self._color_set = False
+        else:
+            Shape.color.fset(self, value)  # type: ignore[misc]
+            self._color_set = True
+
     @property
     def length(self) -> float:
         """
@@ -571,6 +599,9 @@ class Axes(Shape):
         """
 
         shape = super().to_dict()
+        # null tells the renderer there is no override: draw red/green/blue
+        if not self._color_set:
+            shape["color"] = None
         shape["length"] = self.length
         shape["arrows"] = self.arrows
         shape["radius"] = self.radius

{spatialgeometry-1.4.1 → spatialgeometry-1.4.2}/tests/test_Shape.py

@@ -438,7 +438,7 @@ class TestShape(unittest.TestCase):
             "t": [0.0, 0.0, 0.0],
             "q": [0.0, 0.0, 0.0, 1],
             "v": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
-            "color": 5000268,
+            "color": None,  # no override: renderer draws red/green/blue
             "opacity": 1.0,
             "length": 1.0,
             "arrows": False,
@@ -448,6 +448,48 @@ class TestShape(unittest.TestCase):
 
         self.assertEqual(s0.to_dict(), ans)
 
+    def test_Axes_color_default_is_no_override(self):
+        for arrows in (False, True):
+            self.assertIsNone(gm.Axes(1.0, arrows=arrows).to_dict()["color"])
+
+    def test_Axes_color_override(self):
+        # an override applies whatever the arrows style, and accepts a name,
+        # a 3-tuple or a 4-tuple
+        for arrows in (False, True):
+            s = gm.Axes(1.0, arrows=arrows, color="red")
+            self.assertEqual(s.to_dict()["color"], 0xFF0000)
+
+            s = gm.Axes(1.0, arrows=arrows, color=(0, 0, 1))
+            d = s.to_dict()
+            self.assertEqual(d["color"], 0x0000FF)
+            self.assertEqual(d["opacity"], 1.0)
+
+            s = gm.Axes(1.0, arrows=arrows, color=(0, 1, 0, 0.5))
+            d = s.to_dict()
+            self.assertEqual(d["color"], 0x00FF00)
+            self.assertEqual(d["opacity"], 0.5)
+
+    def test_Axes_color_setter_and_revert(self):
+        s = gm.Axes(1.0)
+        s.color = "blue"
+        self.assertEqual(s.to_dict()["color"], 0x0000FF)
+
+        # assigning None removes the override, unlike other shapes where it
+        # substitutes a default color
+        s.color = None
+        self.assertIsNone(s.to_dict()["color"])
+
+    def test_Axes_color_change_flags_for_swift(self):
+        s = gm.Axes(1.0)
+        s._added_to_swift = True
+        s._changed = False
+        s.color = "green"
+        self.assertTrue(s._changed)
+
+        s._changed = False
+        s.color = None
+        self.assertTrue(s._changed)
+
     def test_Axes_arrows_passes_through_radius_and_linewidth(self):
         s0 = gm.Axes(2.0, arrows=True, radius=0.05, linewidth=3.0)