pytransform3d - 3.14.2

Bugfix

• Fix TransformGraphBase.check_consistency, #353

Documentation

• Add overview figure of all representations of SE(3) and SE(3)

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch 11 months ago

pytransform3d - 3.14.1

Bugfix

• Fix call to missing function in visualizer.Figure.plot_trajectory

Documentation

• Add reference to jaxtransform3d in readme
• Add py.typed file

Tests

• Drop support for Python 3.8 in CI pipeline (does not seem to be supported by the GitHub Action anymore)
• Deactivate CircleCI

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 1 year ago

pytransform3d - 3.14.0

Feature

• Add transformations.dual_quaternion_squared_norm

Bugfix

• Fix dual quaternion normalization (transformations.norm_dual_quaternion)
• Correct various type hints
• Fix trajectories.batch_dq_prod_vector for >=2d arrays

Refactoring

• Split large files into smaller modules, mainly conversions between rotations and transformations
• Simplify and document various parts of the library
• Sort import statements
• Use black for formatting
• Use ruff for linting

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 1 year ago

pytransform3d - 3.13.0

Features

• Add trajectories.random_trajectory
• Add ScLERP for transformation matrices
• Add SLERP for rotation matrices

Documentation

• Add more details to documentation of long examples
• Explain ScLERP of exponential coordinates and logarithm of transformation in user guide

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.12.0

Features

• Add transformations.norm_dual_quaternion
• Add option unit to transformations.concatenate_dual_quaternions to allow multiplication of unnormalized dual quaternions
• Update transformations.dual_quaternion_requires_renormalization to check for orthogonality of real and dual quaternion
• Add rotations.robust_polar_decomposition as an alternative orthonormalization method for rotation matrices

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.11.0

Features

• Add random sampling of rotation matrices
• Add estimation of Gaussian rotation
• Add general implementation of Frechet mean

Bugfixes

• Fix case of no rotation for batch conversion from rotation matrices to axis-angle representation
• Do not catch ImportErrors for missing plotting dependencies except matplotlib
• Fix loading of color STL meshes by trying to load with Open3D first, since trimesh does not support color information in STL files

Refactoring

• Refactor conversion of trimesh scenes to meshes when converting to Open3D mesh by implementing the composition with Open3D

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.10.1

Documentation

• Fix interpretation of rotation matrix (see #321)

Testing

• Add Python versions 3.12 and 3.13 to CI

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.10.0

Features

• Add class plot_utils.Camera for animations of camera frames.

Documentation

• Update installation instructions to be compatible with zsh.
• Fix array shape in a docstring.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.9.0

Highlight

The TemporalTransformManager now allows vectorized queries along the time axis (contributed by @JonasHablitzel), for example,

python tm = TemporalTransformManager() tm.add_transform("A", "W", A2world) tm.add_transform("B", "W", B2world) A2B_at_start_time, A2B_after_start_time = tm.get_transform_at_time("A", "B", [0.0, 0.1])

Features

• Add mrp_prod_vector to apply modified Rodrigues parameters to a vector
• Add alias rot_log_from_compact_axis_angle for cross_product_matrix
• Add alias check_rot_log for check_skew_symmetric_matrix
• Add batch_rotations.norm_axis_angles
• Add batch_rotations.axis_angles_from_quaternions
• Add trajectories.concat_many_to_many
• Add trajectories.concat_dynamic
• Add trajectories.screw_parameters_from_dual_quaternions
• Add trajectories.dual_quaternions_from_screw_parameters
• Add trajectories.dual_quaternions_power
• Add trajectories.dual_quaternions_sclerp
• Add trajectories.batch_dq_q_conj
• Vectorize TimeVaryingTransform.as_matrix and TemporalTransformManager.current_time to enable querying transformations for multiple times at once (https://github.com/dfki-ric/pytransform3d/pull/301)

Bugfixes

• Fix mrp_double for no rotation (np.zeros(3))

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.8.0

Features

• Add conversions between axis-angle representation and MRP
• Add functions to write numerically stable code and avoid pitfalls
  • matrix_requires_renormalization - check if rotation matrix needs renormalization
  • norm_euler - maps Euler angles to unique interval
  • euler_near_gimbal_lock - checks if angles are close to gimbal lock singularity
  • assert_euler_almost_equal - checks if two sets of Euler angles are similar
  • compact_axis_angle_near_pi - check if angle is close to pi
  • quaternion_double - create another quaternion that represents the same orientation (double cover)
  • quaternion_requires_renormalization - check if quaternion needs renormalization
  • mrp_near_singularity - check if angle is close to 2 * pi
  • norm_mrp - normalize angle to [-pi, pi]
  • mrp_double - create another mrp that represents the same orientation (double cover)
  • assert_mrp_almost_equal - check if two mrp vectors are similar
  • transform_requires_renormalization - check if transformation matrix needs renormalization
  • assert_exponential_coordinates_almost_equal - check if exp. coordinates are similar
  • dual_quaternion_requires_renormalization - check if dual quaternion needs renormalization
  • dual_quaternion_double - create another dual quaternion that represents the same transformation (double cover)

Documentation

• Sort API documentation of rotations and transformations by representation
• Correct documentation of angle limits for Euler angles

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.7.0

Features

• Add concatenation of modified Rodrigues parameters (#299 )
• Add TransformGraphBase.remove_frame (#300 )

Documentation

• Fix PDF documentation
• Link examples in user guide about rotations and transformations
• Correct grammatical errors and typos
• Document how Gaussian distributions of transformations are computed
• Fix logo for dark mode (#297)
• Review documentation of UrdfTransformManager
• Explain example "Probabilistic Product of Exponentials" step by step
• Explain example "Concatenate Uncertain Transforms" step by step
• Explain quaternion operations

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.6.2

Documentation

• Improve rotor explanation
• Review user guide sections on rotations, transformations, and camera
• Add user guide section about uncertainty module (fix #291)
• Fix sidebar in section about ambiguities
• Better names of user documentation sections
• Remove animation section
• Add cross-references in API documentation

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.6.1

Documentation

• Use pydata-sphinx-theme, remove sphinx-bootstrap-theme. (Fix #287)
• Fix Open3D scraper for latest version of sphinx-gallery. (Fix #286)
• Show logo in sphinx documentation

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.6.0

Documentation

• Remove pyrender example
• Reference references in user documentation

Bugfixes

• Fix pytransform3d.visualizer.Figure.view_init for open3d >= 0.17
• Fix a bug with loading COLLADA scenes as meshes in a URDF that was caused by a changed interface of trimesh (#284)

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 1 year ago

pytransform3d - 3.5.0

Features

• Add pytransform3d.transformations.pq_slerp, which performs linear interpolation of position and SLERP of quaternion.

Bugfixes

• Fix serialization of TransformManager objects.

Documentation

• Add connections between docstrings through "See Also" sections.

Refactoring

• Rename branch master to main.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 2 years ago

pytransform3d - 3.4.0

Features

• More general mesh loader that can handle more file formats (e.g., collada), loads meshes more robustly, and enables dynamic selection of available libraries to load a mesh (currently supported: Open3D, trimesh).

Bugfixes

• Improve numerical precision of pytransform3d.rotations.norm_angle.
• Clamp argument to range [-1, 1] before applying arccos in some conversion functions.

Refactoring

• Extract common geometric code used for visualization and plotting and move it to the geometry module.

Documentation

• Improve discussion of pros and cons of rotation representations.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 3 years ago

pytransform3d - 3.3.0

Features

• Add option to visualize convex hull of collision objects.
• Add TemporalTransformManager to handle dynamic transformations.

Documentation

• New logo.
• Add section on temporal alignment of transformations.

Refactoring

• Remove dependency beautifulsoup4 and use lxml for URDF parsing.
• Turn pytransform3d.transform_manager into a subpackage.
• Extract base class TransformGraphBase from TransformManager that contains common code of TransformManager and TemporalTransformManager.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 3 years ago

pytransform3d - 3.2.0

Bugfixes

• Fix edge cases of euler angle computation from rotation matrix
• Fix inconsistency when removing transforms from the TransformManager

Documentation

• Add citation file (CITATION.cff) to repository

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 3 years ago

pytransform3d - 3.1.0

Bugfixes

• Include Python stub files with type hints in package

Features

• Concatenation of locally uncertain transformations: pytransform3d.uncertainty.concat_locally_uncertain_transforms; needed for probabilistic product of exponentials

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 3 years ago

pytransform3d - 3.0.0

Breaking Changes

• Switch to new random number generator interface of NumPy (numpy.random.RandomState is legacy code, see good practices with numpy random number generators). random_state arguments will also be renamed to rng. With this change pytransform3d does not work with Python 2 anymore as there is no NumPy version for Python 2 that supports the new random number generator interface.

Features

• pytransform3d.rotations
  • Add left Jacobian of SO(3) and its inverse
  • New representation of rotations: Modified Rodrigues Parameters (MRP)
    • Add input validation function: pytransform3d.rotations.check_mrp
    • Add conversion from quaternion to MRP: pytransform3d.rotations.mrp_from_quaternion
    • Add conversion from MRP to quaternion: pytransform3d.rotations.quaternion_from_mrp
• pytransform3d.transformations
  • Add left Jacobian of SE(3) and its inverse
  • Add function to generate random exponential coordinates
  • Extend function to generate random transformation matrices by mean and covariance argument
• Add new module pytransform3d.uncertainty with the following functions:
  • estimate_gaussian_transform_from_samples
  • invert_uncertain_transform
  • concat_uncertain_transforms
  • pose_fusion
  • to_ellipsoid
  • to_projected_ellipsoid
  • plot_projected_ellipsoid
• Add pytransform3d.plot_utils.plot_spheres to plot multiple spheres more efficiently.

Bugfixes

• Fix handling of integer inputs in conversion functions of pytransform3d.coordinates.
• Fix argument strict_check of pytramsform.camera.plot_camera.

Documentation

• More visually appealing introduction and description of TransformManager.
• Add introduction to 3D rigid transformations for beginners.
• Add more details on exponential coordinates of SO(3) and SE(3) in docstrings.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 3 years ago

pytransform3d - 2.3.1

Last version with Python 2 support!

Deprecation

• Rename random_state argument to rng in all functions that use random number generators. This change will prepare the transition to the new numpy random number generator interface in version 3.0.0 of pytransform3d. The old argument name still works and prints out a deprecation warning.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 3 years ago

pytransform3d - 2.3.0

Features

• Serialization of TransformManager with to_dict which produces a serializable dict. An identical object can be created from a deserialized dict with from_dict.

Documentation

• General introduction to 3D rigid transformations
• Update discussion of rotation matrices

Bugfixes

• Relax numerical precision check of rotation matrices (pytransform3d.rotations.check_matrix). Instead of checking the determinant, only the components of R.dot(R.T) will be compared with I.

Tests

• Use pytest for testing
• Update CI to check up to Python 3.11

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 3 years ago

pytransform3d - 2.2.0

Features

New interface to Euler angles

• Add rotations.euler_from_quaternion to convert quaternions to arbitrary Euler angles (#207)
• Add rotations.quaternion_from_angle
• Add quaternion_from_euler to convert from arbitrary Euler angles to quaternion (#211)
• Add matrix_from_euler to convert from arbitrary Euler angles to active rotation matrix
• Add euler_from_matrix to convert from active rotation matrix to arbitrary Euler angles

Bugfixes

• Fix plot_utils.plot_cylinder and plot_utils.plot_cone in case of axis alignment (#206)

Deprecated

• rotations.quaternion_from_extrinsic_euler_xyz

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 3 years ago

pytransform3d - 2.1.0

Refactoring

• UrdfTransformManager also stores fixed joints internally #203

Bugfixes

• Use numpy.int64 instead of numpy.int

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 3 years ago

pytransform3d - 2.0.0

Breaking Changes

Removed functions / constants:

• pytransform3d.rotations.matrix_from
• pytransform3d.rotations.matrix_from_angle
• pytransform3d.rotations.matrix_from_euler_xyz
• pytransform3d.rotations.matrix_from_euler_zyx
• pytransform3d.rotations.euler_xyz_from_matrix
• pytransform3d.rotations.euler_zyx_from_matrix
• pytransform3d.rotations.assert_euler_xyz_equal
• pytransform3d.rotations.assert_euler_zyx_equal
• pytransform3d.rotations.e_xyz_id
• pytransform3d.rotations.e_zyx_id

Features

• Add pytransform3d.rotations.quaternionfromextrinsiceulerxyz

Bugfixes

• Fix edge case in axis_angle_from_matrix (#198)
• Raise ValueError when no quaternion is passed to smooth_quaternion_trajectory

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 3 years ago

pytransform3d - 1.14.0

Bugfixes

• Fix pytransform3d.rotations.axis_angle_from_matrix with floating point precision errors in input rotation matrix (#189)

Deprecations

• pytransform3d.rotations.matrix_from
• pytransform3d.rotations.matrixfromangle
• pytransform3d.rotations.matrixfromeuler_xyz
• pytransform3d.rotations.matrixfromeuler_zyx
• pytransform3d.rotations.eulerxyzfrom_matrix
• pytransform3d.rotations.eulerzyxfrom_matrix
• pytransform3d.rotations.asserteulerxyz_equal
• pytransform3d.rotations.asserteulerzyx_equal
• pytransform3d.rotations.exyzid
• pytransform3d.rotations.ezyxid

Documentation

• Changed URL to https://github.com/dfki-ric/pytransform3d

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 4 years ago

pytransform3d - 1.13.0

Features

• Add pytransform3d.rotations.pick_closest_quaternion
• Add pytransform3d.batch_rotations.smooth_quaternion_trajectory
• Add pytransform3d.trajectories.mirror_screw_axis_direction
• Add optional parameter shortest_path to indicate that sign ambiguity should be resolved in quaternion_slerp_batch, quaternion_slerp, and rotor_slerp
• Add artist Plane to visualizer

Bugfixes

• Indicate that parameter c is optional in type hints of function pytransform3d.visualizer.Figure.plot
• Document slerp_weights and correct type hints
• Fix Vector3D.set_data with parameter c=None (default value)

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 4 years ago

pytransform3d - 1.12.1

Fix plot_bivector for Matplotlib >= 3.5

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 4 years ago

pytransform3d - 1.12.0

Features

• Add option draw_label_indicator to Frame artist class for Matplotlib

Bugfixes

• Make Arrow3D compatible to matplotlib 3.5

Documentation

• Describe SE(3) more clearly.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 4 years ago

pytransform3d - 1.11.0

Features

• Adds function Figure.vector and artist Vector3D to Open3D-based visualizer
• Adds function Figure.scatter and artist PointCollection3D to Open3D-based visualizer

Documentation

• Updates copyright information in license file
• Updates contribution guidelines
• Increase software quality stage in manifest.xml to stage 2

Continuous Integration

• Runs CircleCI with Python 3.10 and pytest

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 4 years ago

pytransform3d - 1.10.0

As of version 1.10.0 pytransform3d will use semantic versioning. New versions will be developed on the branch develop and each merge to the master branch will result in a new version.

Furthermore, 1.10.0... * Adds pytransform3d.rotations.plane_basis_from_normal * Adds plot_ellipsoid, plot_capsule, and plot_cone to pytransform3d.plot_utils * Adds visualization of capsule and cone * Adds pytransform.coordinates to convert between different coordinate systems (Cartesian, spherical, cylindrical) * Adds function to make batch conversions between scalar last and scalar first quaternions * Adds trajectories.concat_one_to_many to apply one transformation to multiple others and concat_many_to_one to concatenate many transformations to one other * Relaxes thresholds for screw axis validation

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 4 years ago

pytransform3d - 1.9.1

Fixes broken installation of subpackages in version 1.9.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 5 years ago

pytransform3d - 1.9

Warning

This release is broken. Subpackages will not be installed. Use 1.9.1.

Refactoring

• Large modules are split into multiple files (non-breaking change)
• Refactoring of URDF parser
• Matplotlib is not strictly necessary anymore to use the core code of pytransform3d without its plotting features

Features

• Adds type hints for static type checking in additional type stubs (files with ending .pyi)
• Adds trajectories.invert_transforms to invert multiple transformation matrices at once
• Adds function to parse inertial tag in URDF
• Makes some validations before conversions optional
• Adds option to visualize ellipsoid
• Adds rotors as a new concept to represent rotations

Bugfixes

• Fixes numerical issue in conversion from matrix to axis-angle representation

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 5 years ago

pytransform3d - 1.8

• Adds unit dual quaternions as a new representation of transformations.
• Adds batch operations on unit dual quaternions.
• Adds screw linear interpolation (ScLERP) for dual quaternions.
• Adds functions to visualize and plot a camera configuration in 3D.
• Adds function to remove an artist from the Open3D visualizer.
• Fixes deprecation warnings of numpy and matplotlib.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 5 years ago

pytransform3d - 1.7.1

• Clean up 3D plots in matplotlib (no gray background, less ticks)
• Documentation target latexpdf works now as SVG images were replaced by PNGs. This also fixes missing font issues in the HTML documentation.

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch about 5 years ago

pytransform3d - 1.7

• Adds batch conversions of orientation and pose representations and similar operations
• Adds function norm_exponential_coordinates
• Adds tables of content for longer documentation pages
• Prints more useful warning for missing mesh filename in pytransform3d.plot_utils.plot_mesh
• Makes frames of collision objects and visuals unique in UrdfTransformManager

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 5 years ago

pytransform3d - 1.6

• Adds all 24 Euler angle conventions (conversion to rotation matrix and from rotation matrix)
• Adds option to convert 'package://' in URDF files to a specified directory
• Adds options to control appearance of collision objects and visuals in plots: wireframe, convex hull, alpha value
• Compute vertex normals of meshes before rendering
• Fixes visualization of TransformManager

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 5 years ago

pytransform3d - 1.5

Bugfix (Breaking Change)

• Fixes extrinsic zxz and zyz Euler angles (order of rotations was previously inverted)

Features

• Adds functions vector_projection and check_skew_symmetric_matrix
• Adds screw parameters, screw axis, exponential coordinates of transformations, screw matrix, and matrix logarithm as new representations for transformations
• Adds function adjoint_from_transformation
• Adds method TransformManager.remove_transform
• Adds functions norm_matrix and matrix_from_two_vectors

Documentation

• Rearranges gallery in readme
• Links to GitHub page in sphinx documentation
• Improves documentation of SE(3)
• Adds examples to documentation with sphinx-gallery and a custom image scraper for Open3D
• Documents rotation and transformation conventions of other software packages

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 5 years ago

pytransform3d - 1.4

• Adds major improvement of pytransform3d's visualization and animation capabilities: a renderer based on Open3D's visualizer which is fast and easily accessible. In addition to meshes it can also easily render large point clouds etc. The interface that is exposed by pytransform3d is similar to matplotlib.
• Adds axis_angle_from_two_directions
• Adds support for prismatic and continuous URDF joints
• Adds support for material tag in URDF parser
• Adds option to turn checks in TransformManager off to make it faster

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 5 years ago

pytransform3d - 1.3

Rotations * Introduces compact axis-angle as a new concept to represent orientations and adds conversions from and to axis-angle, quaternion, and rotation matrix * Uses compact axis-angle to represent angular velocities * Adds function to compute time derivatives of a quaternion sequence * Adds function to integrate angular velocities to a sequence of quaternions * Adds additional functions to convert Tait-Bryan or Euler angles to rotation matrices

Transformations * Adds vectortodirection, vectorstodirections, and vectorstopoints

Documentation * Less confusing documentation of active, passive, extrinsic, and intrinsic rotation conventions * Documents how multiple transformations should be modeled

Plotting * Adds plotting functions for geometric objects * Extends plotting function for cylinders to include cylindrical shells * Plots convex hull of meshes by default when plotting URDFs to speed up visualization * Passes option 'prog' to pydot * Adds function plot_vector

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 5 years ago

pytransform3d - 1.2.1

Adapt to change in Matplotlib interface

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 6 years ago

pytransform3d - 1.2

• Update check mechanisms
  • Check determinant of rotation matrices
  • Increase tolerance of checks for rotation matrices
  • Allow deactivation of ValueErrors for invalid rotation and transformation matrices with argument strict_check=False in several functions and in the TransformManager
• Bugfixes
  • Improve numerical stability of axis_angle_from_matrix(...)
  • Improve numerical stability of angle_between_vectors(...)
  • Fix SLERP between identical orientations
• It is now possible to plot visual / collision meshes of a URDF (with trimesh)
• Improved documentation of conventions for axis-angle representation

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch almost 6 years ago

pytransform3d - 1.1.1

Minor fixes and additional functions:

• Compatibility to newer sphinx versions
• Compatibility to matplotlib >= 3.1
• Fix orientation of frame annotation
• Pass kwargs in plot_trajectory
• Add TransformManager.hasframe and TransformManager.connectedcomponents

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 6 years ago

pytransform3d - 1.1

• Add support for graph visualization for TransformManager
• Fix pip dependencies

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 7 years ago

pytransform3d - 1.0

First official release at PyPI as pytransform3d

Scientific Software - Peer-reviewed - Python
Published by AlexanderFabisch over 7 years ago