Merge pull request #111 Fix build error, update css paths, bump versi…

…ons, update readme

README.md

@@ -1,12 +1,12 @@
 [![](https://img.shields.io/badge/Buy%20me%20-coffee!-orange.svg?logo=buy-me-a-coffee&color=795548)](https://ko-fi.com/minimithi)
-[![Build Status](https://travis-ci.com/mithi/hexapod-robot-simulator.svg?branch=master)](https://travis-ci.com/github/mithi/hexapod-robot-simulator) 
+[![Build Status](https://travis-ci.com/mithi/hexapod-robot-simulator.svg?branch=master)](https://travis-ci.com/github/mithi/hexapod-robot-simulator)
 [![codecov](https://codecov.io/gh/mithi/hexapod-robot-simulator/branch/master/graph/badge.svg)](https://codecov.io/gh/mithi/hexapod-robot-simulator)
 [![Code Climate](https://codeclimate.com/github/mithi/hexapod-robot-simulator/badges/gpa.svg)](https://codeclimate.com/github/mithi/hexapod-robot-simulator)
 [![](https://img.shields.io/codeclimate/tech-debt/mithi/hexapod-robot-simulator)](https://codeclimate.com/github/mithi/hexapod-robot-simulator/trends/technical_debt)
 [![HitCount](https://hits.dwyl.com/mithi/hexapod-robot-simulator.svg)](https://hits.dwyl.com/mithi/hexapod-robot-simulator)
 [![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](./LICENSE)
-[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black) 
-[![PRs welcome!](https://img.shields.io/badge/contributions-welcome-orange.svg?style=flat)](https://github.com/mithi/hexapod-robot-simulator/issues?q=is%3Aissue+is%3Aopen+label%3A%22help+wanted%22) 
+[![Code style: black](https://img.shields.io/badge/code%20style-black-000000.svg)](https://github.com/psf/black)
+[![PRs welcome!](https://img.shields.io/badge/contributions-welcome-orange.svg?style=flat)](https://github.com/mithi/hexapod-robot-simulator/issues?q=is%3Aissue+is%3Aopen+label%3A%22help+wanted%22)
 [![first-timers-only](https://img.shields.io/badge/first--timers--only-friendly-blueviolet.svg?style=flat)](https://www.firsttimersonly.com/)
 
 # Mithi's Hexapod Robot Simulator
@@ -20,7 +20,7 @@
 
 # Announcement
 
-You might be interested in checking out my [rewrite in Javascript](http://github.com/mithi/hexapod), live at: https://hexapod.netlify.app/ , which is like 10000000x faster. If you'd like tobuild you're own user interface with Node, you can download the algorithm alone as a package in the npm registry: [Hexapod Kinematics Library](https://github.com/mithi/hexapod-kinematics-library). There is also [a "fork" modified where you can use the app to control a physical hexapod robot](https://github.com/mithi/hexapod-irl) as you can see in the gif below. 
+You might be interested in checking out my [rewrite in Javascript](http://github.com/mithi/hexapod), live at: https://hexapod.netlify.app/ , which is like 10000000x faster. If you'd like to build you're own user interface with Node, you can download the algorithm alone as a package in the npm registry: [Hexapod Kinematics Library](https://github.com/mithi/hexapod-kinematics-library). There is also [a "fork" modified where you can use the app to control a physical hexapod robot](https://github.com/mithi/hexapod-irl) as you can see in the gif below.
 
 <p align="center">
     <img src="https://user-images.githubusercontent.com/1670421/103467765-451a2180-4d8d-11eb-8f94-1a23201595b9.gif" alt="drawing" />
@@ -50,9 +50,9 @@ You might be interested in checking out my [rewrite in Javascript](http://github
 ## Requirements
 
 - [x] Python 3.8.1
-- [x] Plotly Dash 1.10.0
-- [x] Plotly Dash Daq 0.4.0
-- [x] Numpy 1.18.1
+- [x] Plotly Dash 1.18.1
+- [x] Plotly Dash Daq 0.5.0
+- [x] Numpy 1.19.5
 - [x] See also [./requirements.txt](./requirements.txt)
 
 ## Run
@@ -65,42 +65,14 @@ Running on http://127.0.0.1:8050/
 - Modify default settings with [./settings.py](./settings.py)
 - Dark Mode is the default - modify page styles with [./style_settings.py](./style_settings.py)
 
-## ⚠️ Known Issues
-
-- [ ] ❗[Good First Issue](https://github.com/mithi/hexapod-robot-simulator/issues?q=is%3Aissue+is%3Aopen+label%3A%22good+first+issue%22)
-- [ ] ❗[Help Wanted](https://github.com/mithi/hexapod-robot-simulator/issues?q=is%3Aissue+is%3Aopen+label%3A%22help+wanted%22)
-- [ ] ❗[Bugs](https://github.com/mithi/hexapod-robot-simulator/issues?q=is%3Aissue+is%3Aopen+label%3Abug)
-- [ ] ❗[All](https://github.com/mithi/hexapod-robot-simulator/issues)
-
 ## Screenshots
 
 | ![Kinematics](https://mithi.github.io/robotics-blog/v2-kinematics-screenshot.png)|
 |---|
 | ![IK](https://mithi.github.io/robotics-blog/v2-ik-screenshot.png)|
 
-## Conventions and Algorithms
-
-- Definitions
-  - [`Linkage`](./hexapod/linkage.py)
-  - [`VirtualHexapod`](./hexapod/models.py)
-- The [Inverse Kinematics Algorithm](./hexapod/ik_solver/README.md) used for this project
-- How to find the orientation of the hexapod with respect to the ground given we know all the orientations of the six legs with respect to the robot's body.
-  - [Algorithm 1](./hexapod/ground_contact_solver/ground_contact_solver.py) when we know which of the three points of each leg could contact the ground
-  - [Algorithm 2](./hexapod/ground_contact_solver/ground_contact_solver2.py) when  we **don't** know which of points of which legs could be in contact with the ground
-- [How to make the hexapod step on the correct target ground contacts](./hexapod/ik_solver/recompute_hexapod.py)
-- How to determine if the hexapod should twist and by how much
-  - [`find_if_might_twist`](./hexapod/models.py#L248)
-  - [`find_twist_frame`](./hexapod/models.py#L273)
-
-## Notes
-
-- Now live on https://hexapod-robot-simulator.herokuapp.com ! **BUT** (and a big one) I highly suggest that you run it locally. When run locally, it's pretty speedy! On the other hand, the link above is barely usable. 
-
-- This implementation uses matrices, **NOT** quaternions. I'm aware that quaternions is far superior in every single way. In the (un)forseeable future, maybe?
-
-- Honestly, [my Inverse Kinematics algorithm](./hexapod/ik_solver/README.md) and [orientation algorithm](./hexapod/ground_contact_solver) is just something I came up with based on what I remember back in college plus browsing through the [Mathematics Stack Exchange](https://math.stackexchange.com/). It's just the most intuitive that I can think of. If you want something closer to the state-of-the-art, maybe checkout [Unity's Fast IK](https://assetstore.unity.com/packages/tools/animation/fast-ik-139972) or [ROS IKFast](http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution).
-
-- Don't be mean! [![Contributor Covenant](https://img.shields.io/badge/Contributor%20Covenant-v2.0%20adopted-ff69b4.svg)](https://www.contributor-covenant.org/)
+## More Information
+Check the [Wiki](https://github.com/mithi/hexapod-robot-simulator/wiki/Notes) for more additional information
 
 ## 🤗 Contributors
 

hexapod/ik_solver/helpers.py

@@ -16,7 +16,7 @@
 
 
 def cant_reach_alert_msg(leg_name, problem):
-    msg = f"Cannot reach target ground point.\n"
+    msg = "Cannot reach target ground point.\n"
     if problem == "femur":
         msg += f"Femur length of {leg_name} leg is too long."
     if problem == "tibia":

index.py

@@ -74,6 +74,7 @@
     ROOT_PATH: page_landing.layout,
 }
 
+
 # ....................
 # Callback to display page given URL
 # ....................

pages/helpers.py

@@ -10,7 +10,7 @@
 )
 
 NEW_POSES = deepcopy(BASE_POSE)
-POSES_MSG_HEADER = f"""
+POSES_MSG_HEADER = """
 +----------------+------------+------------+------------+
 | leg name       | coxia      | femur      | tibia      |
 +----------------+------------+------------+------------+"""
@@ -53,7 +53,7 @@ def load_params(params_json, params_type):
 
         raise Exception(
             f'params_type must be "dims", "pose" or "ik", not {params_type}'
-        )
+        ) from e
 
     return params
 

requirements.txt

@@ -1,43 +1,30 @@
-appdirs==1.4.3
-astroid==2.3.3
-attrs==19.3.0
-black==19.10b0
-click==7.1.1
-dash==1.10.0
-dash-core-components==1.9.0
-dash-daq==0.4.0
-dash-html-components==1.0.3
-dash-renderer==1.3.0
-entrypoints==0.3
-flake8==3.7.9
+astroid==2.4.2
+Brotli==1.0.9
+click==7.1.2
+dash==1.18.1
+dash-core-components==1.14.1
+dash-daq==0.5.0
+dash-html-components==1.1.1
+dash-renderer==1.8.3
+dash-table==4.11.1
+flake8==3.8.4
 Flask==1.1.2
-Flask-Compress==1.4.0
+Flask-Compress==1.8.0
 future==0.18.2
 gunicorn==20.0.4
-isort==4.3.21
+isort==5.7.0
 itsdangerous==1.1.0
-Jinja2==2.11.1
+Jinja2==2.11.2
 lazy-object-proxy==1.4.3
 MarkupSafe==1.1.1
 mccabe==0.6.1
-more-itertools==8.2.0
-numpy==1.18.2
-packaging==20.3
-pathspec==0.8.0
-pip-check-reqs-pip-gte-20==2.0.3.1
-plotly==4.6.0
-pluggy==0.13.1
-py==1.8.1
-pycodestyle==2.5.0
-pyflakes==2.1.1
-pylint==2.4.4
-pyparsing==2.4.7
-pytest==5.4.1
-regex==2020.4.4
+numpy==1.19.5
+plotly==4.14.1
+pycodestyle==2.6.0
+pyflakes==2.2.0
+pylint==2.6.0
 retrying==1.3.3
-six==1.14.0
-toml==0.10.0
-typed-ast==1.4.1
-wcwidth==0.1.9
+six==1.15.0
+toml==0.10.2
 Werkzeug==1.0.1
-wrapt==1.11.2
+wrapt==1.12.1

style_settings.py

@@ -1,7 +1,7 @@
 DARKMODE = True
 
-DARK_CSS_PATH = "https://codepen.io/mithi-the-encoder/pen/BaoBOKa.css"
-LIGHT_CSS_PATH = "https://codepen.io/mithi-the-encoder/pen/eYpObwK.css"
+DARK_CSS_PATH = "https://mithi.github.io/hexapod-robot-simulator/dark.css"
+LIGHT_CSS_PATH = "https://mithi.github.io/hexapod-robot-simulator/light.css"
 
 EXTERNAL_STYLESHEETS = [DARK_CSS_PATH]
 if not DARKMODE: