Merge pull request #197 from nnadeau/release-prep

Release 0.4.0

CHANGELOG.md

@@ -5,6 +5,33 @@ The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/)
 and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html).
 
 ## [Unreleased]
+## [0.4.0] - 2017-11-08
+- A big refactor of `pybotics`
+- Many breaking changes to how models are designed and used
+- The goal was to clean technical debt and simplify the architecture
+
+### Added
+- `pybotics.__version__`
+- `CODE_OF_CONDUCT.md`
+- CI helper scripts
+- `docs`
+
+### Fixed
+- New PyPI test server in `.travis.yml`
+
+### Changed
+- All modules have been significantly updated
+- Split requirements
+- Typing now heavily relies on `collections.abc`
+- Simplified `.travis.yml` configuration
+- Simplified `README.md`
+- More static testing
+- Simplified `setup.py`
+- `100%` test coverage requirement
+
+### Removed  
+- Inverse kinematics (IK) for the moment
+- `README.rst`
 
 ## [0.3.2] - 2017-06-20
 ### CI

README.md

@@ -18,36 +18,14 @@ The Python Toolbox for Robotics
 pip install pybotics
 ```
 
-### Quick Start
-```python
-import numpy as np
-import pybotics as pybot
-
-# classic planar robot from textbooks
-robot_model = np.array([
-    [0, 0, 0, 0],
-    [0, 10, 0, 0],
-    [0, 20, 0, 0]
-], dtype=np.float)
-planar_robot = pybot.Robot(robot_model)
-planar_robot.joint_angles = np.deg2rad([30, 60, 0])
-pose = planar_robot.fk() # forward kinematics, returns 4x4 pose transform    
-
-# modern, collaborative, 6-axis robot (UR10 from Universal Robots)
-robot_model = np.loadtxt('ur10-mdh.csv', delimiter=',')
-ur10_robot = pybot.Robot(robot_model)
-ur10_robot.random_joints()
-pose = ur10_robot.fk() # forward kinematics, returns 4x4 pose transform
-```
-
-### Applications
-- [Kinematics](https://github.com/nnadeau/pybotics/blob/master/examples/example_kinematics.ipynb)
-- [Calibration](https://github.com/nnadeau/pybotics/blob/master/examples/example_calibration.ipynb)
+### Applications & Examples
+- [Kinematics](examples/forward_kinematics.ipynb)
+- [Calibration](examples/calibration.ipynb)
 - Trajectory and path planning
 
 ## Development
 - All branches are deployed to [PyPI's Test Site](https://testpypi.python.org/pypi/pybotics/)
-- Only tags on the `master` branch are deployed to [PyPI](https://pypi.python.org/pypi/pybotics)
+- Only tags on the `master` branch are deployed to [PyPI](https://pypi.org/project/pybotics/)
 - Requirements used for CI (e.g., `requirements/static-testing.txt`) are pinned to a specific version to avoid the `master` branch from suddenly failing due to a package update.
 
 ## References