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Commits on Dec 19, 2020

• Change origin to the base of the base

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• tidyup and track recent changes

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• make a working VPython example

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• Use import *

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• remove trajectory transpose

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• namedtuple bug again

  petercorke

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• Another case of namedtuple default

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• namedtupe(defaults=) is for Py3.7 or later

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• change robot used for test

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• Update changes to track IK changes

  petercorke

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• Handle joint coordinate flip when computing transform

  petercorke

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• Don't emit constant term if it's identity matrix

  petercorke

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• Raise exception if link path cannot be found

  petercorke

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• doco for Jacobians and paths

  petercorke

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  faa1761

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• doco

  petercorke

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  445a1d2

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• Fix bug with missed transforms

  petercorke

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  4a03c46

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• ERobot gives default names to ELinks if not provided

  petercorke

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• Update repr/str to handle case with no name

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• Get animation working for console and Jupyter

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• Reflect changes to IK code

  petercorke

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• isprismatic and isrevolute are consistently properties for all Robot subclasses

  petercorke

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• More details

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• update delay to seconds not ms

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• Add proper link to downloads badge

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Commits on Dec 17, 2020

• left justify ETS

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• dotfile

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• rewrite ets() to do the graph path finding

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• factor out _getlink

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• jindex support and checking

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  a9ceb09

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• Use SimpleNamespace instead of namedtuple

  petercorke

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  6527ec1

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• add planar_Y

  petercorke

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• cleanup

  petercorke

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• New notebook for branched robots

  petercorke

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• ikine_unc, ikine_con become ikine_min

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• Add method to create a GraphViz dot file

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