Merge pull request #830 from engnadeau/fix/linting

.flake8

@@ -13,4 +13,4 @@ max-complexity = 10
 import-order-style = pep8
 application-import-names = pybotics
 max-line-length = 88
-ignore = E741,W503
+extend-ignore = E203,E741

Makefile

@@ -7,7 +7,7 @@ check-package:
 
 .PHONY: check-typing
 check-typing:
-	poetry run mypy --strict .
+	poetry run mypy --strict --show-error-codes .
 
 .PHONY: check-format
 check-format:
@@ -22,6 +22,11 @@ lint:
 .PHONY: check
 check: check-format check-package check-typing lint
 
+.PHONY: debug
+debug:
+	@echo "Git version: $(shell git describe --tags)"
+	poetry debug
+
 # ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 # formatting
 

README.md

@@ -33,6 +33,7 @@ Social | ![Twitter Follow](https://img.shields.io/twitter/follow/engnadeau?style
   - [Citing](#citing)
   - [Development and Community Guidelines](#development-and-community-guidelines)
     - [Local Development](#local-development)
+    - [Docker Development](#docker-development)
     - [Dependency Management](#dependency-management)
     - [Submit an Issue](#submit-an-issue)
     - [Contributing](#contributing)
@@ -135,6 +136,23 @@ Please cite the following articles if you use `pybotics` in your research:
 poetry install
 ```
 
+### Docker Development
+
+- Docker is a great tool to test the package in an isolated environment
+- It is especially useful for debugging issues between python versions
+
+```bash
+# launch container attached to current directory
+docker run -v $(pwd):/$(basename $(pwd)) -w /$(basename $(pwd)) -it python:3 bash
+
+# install deps
+pip install poetry
+poetry install
+
+# run tests
+make test
+```
+
 ### Dependency Management
 
 ```bash

examples/basic_usage.py

@@ -1,11 +1,13 @@
 """Basic usage of the pybotics package."""
+import numpy as np
+
 from pybotics.geometry import vector_2_matrix
 from pybotics.predefined_models import ur10
 from pybotics.robot import Robot
 from pybotics.tool import Tool
 
 
-def main():
+def main() -> None:
     """
     Demonstrate pybotics usage.
 
@@ -16,11 +18,11 @@ def main():
 
     # add tool
     tool = Tool()
-    tool.position = [1, 2, 3]
+    tool.position = np.array([1, 2, 3])
     robot.tool = tool
 
     # set world frame
-    world_frame = vector_2_matrix([100, 200, 300, 0, 0, 0])
+    world_frame = vector_2_matrix(np.array([100, 200, 300, 0, 0, 0]))
     robot.world_frame = world_frame
 
     print(f"Robot: {robot}")