From 84c5b804bd54c659c46c759740c7609439038873 Mon Sep 17 00:00:00 2001 From: Jien Cao Date: Fri, 27 Sep 2024 10:34:09 -0400 Subject: [PATCH 1/2] collection of bug fixes: [Issue-136], [Issue-137], github worker --- spatialmath/base/graphics.py | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/spatialmath/base/graphics.py b/spatialmath/base/graphics.py index 2ce18dc8..c51d7f94 100644 --- a/spatialmath/base/graphics.py +++ b/spatialmath/base/graphics.py @@ -982,7 +982,7 @@ def plot_sphere( handles = [] for c in centre.T: X, Y, Z = sphere(centre=c, radius=radius, resolution=resolution) - handles.append(_render3D(ax, X, Y, Z, **kwargs)) + handles.append(_render3D(ax, X, Y, Z, pose=pose, **kwargs)) return handles @@ -1214,7 +1214,7 @@ def plot_cylinder( ) # Pythagorean theorem handles = [] - handles.append(_render3D(ax, X, Y, Z, filled=filled, **kwargs)) + handles.append(_render3D(ax, X, Y, Z, filled=filled, pose=pose, **kwargs)) handles.append( _render3D(ax, X, (2 * centre[1] - Y), Z, filled=filled, pose=pose, **kwargs) ) @@ -1298,9 +1298,9 @@ def plot_cone( Z = height - Z handles = [] - handles.append(_render3D(ax, X, Y, Z, filled=filled, **kwargs)) + handles.append(_render3D(ax, X, Y, Z, pose=pose, filled=filled, **kwargs)) handles.append( - _render3D(ax, X, (2 * centre[1] - Y), Z, filled=filled, **kwargs) + _render3D(ax, X, (2 * centre[1] - Y), Z, pose=pose, filled=filled, **kwargs) ) if ends and kwargs.get("filled", default=False): From 472560ab691587456101781e3b2a10ffcd7b12f9 Mon Sep 17 00:00:00 2001 From: Jien Cao Date: Fri, 27 Sep 2024 11:09:25 -0400 Subject: [PATCH 2/2] more fixes --- .github/workflows/sphinx.yml | 4 ++-- spatialmath/base/animate.py | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/.github/workflows/sphinx.yml b/.github/workflows/sphinx.yml index 7ce7d443..e67e7aa6 100644 --- a/.github/workflows/sphinx.yml +++ b/.github/workflows/sphinx.yml @@ -9,10 +9,10 @@ jobs: if: ${{ github.event_name != 'pull_request' }} steps: - uses: actions/checkout@v2 - - name: Set up Python 3.7 + - name: Set up Python 3.8 uses: actions/setup-python@v5 with: - python-version: 3.7 + python-version: 3.8 - name: Install dependencies run: | python -m pip install --upgrade pip diff --git a/spatialmath/base/animate.py b/spatialmath/base/animate.py index 7654a5a0..a2e31f72 100755 --- a/spatialmath/base/animate.py +++ b/spatialmath/base/animate.py @@ -217,7 +217,7 @@ def update(frame, animation): if isinstance(frame, float): # passed a single transform, interpolate it T = smb.trinterp(start=self.start, end=self.end, s=frame) - elif isinstance(frame, NDArray): + elif isinstance(frame, np.ndarray): # type is SO3Array or SE3Array when Animate.trajectory is not None T = frame else: