Merge branch 'master' into future

.github/workflows/test.yml

@@ -13,11 +13,11 @@ jobs:
     runs-on: ${{ matrix.os }}
     strategy:
       matrix:
-        os: [windows-latest, ubuntu-latest, macos-latest]
-        python-version: [3.7, 3.8, 3.9, "3.10"]
+        os: [windows-latest, ubuntu-latest]
+        python-version: [3.7, 3.8, 3.9, "3.10", 3.11, 3.12]
     steps:
     - uses: actions/checkout@v2
-    - name: Set up Python ${{ matrix.python-version }}
+    - name: Set up Python ${{ matrix.python-version }} for ${{ matrix.os }}
       uses: actions/setup-python@v1
       with:
         python-version: ${{ matrix.python-version }}

README.md

@@ -197,7 +197,7 @@ orientation parallel to y-axis (O=+Y)).
 from spatialmath import SE3
 
 Tep = SE3.Trans(0.6, -0.3, 0.1) * SE3.OA([0, 1, 0], [0, 0, -1])
-sol = robot.ik_lm_chan(Tep)         # solve IK
+sol = robot.ik_LM(Tep)         # solve IK
 print(sol)
 
 	(array([ 0.20592815,  0.86609481, -0.79473206, -1.68254794,  0.74872915,
@@ -239,14 +239,14 @@ We can also experiment with velocity controllers in Swift. Here is a resolved-ra
 
 ```python
 import swift
-import roboticstoolbox as rp
+import roboticstoolbox as rtb
 import spatialmath as sm
 import numpy as np
 
 env = swift.Swift()
 env.launch(realtime=True)
 
-panda = rp.models.Panda()
+panda = rtb.models.Panda()
 panda.q = panda.qr
 
 Tep = panda.fkine(panda.q) * sm.SE3.Trans(0.2, 0.2, 0.45)
@@ -258,7 +258,7 @@ dt = 0.05
 
 while not arrived:
 
-    v, arrived = rp.p_servo(panda.fkine(panda.q), Tep, 1)
+    v, arrived = rtb.p_servo(panda.fkine(panda.q), Tep, 1)
     panda.qd = np.linalg.pinv(panda.jacobe(panda.q)) @ v
     env.step(dt)
 

pyproject.toml

@@ -90,6 +90,7 @@ docs = [
     "sphinx_rtd_theme",
     "sphinx-autorun",
     "sphinx_autodoc_typehints",
+    "sphinx-favicon",
 ]
 
 

rtb-data/setup.py

@@ -8,7 +8,7 @@
 with open(os.path.join(here, "README.md"), encoding="utf-8") as f:
     long_description = f.read()
 
-release = "1.0.1"
+release = "1.1.0"
 
 # list all data folders here, to ensure they get packaged
 
@@ -22,7 +22,7 @@
 
 def package_files(directory):
     paths = []
-    for (pathhere, _, filenames) in os.walk(directory):
+    for pathhere, _, filenames in os.walk(directory):
         for filename in filenames:
             paths.append(os.path.join("..", pathhere, filename))
     return paths