Peter Corke

Thanks for the detailed problem statement. The discrepancy is in the rotational part of the transforms, and that is ultimately performed by `base/quaternions/qslerp()`. For a rotation about an axis there...

Hi @siilats thanks for your interest in the toolbox and apologies for the very late response. I'm happy to accept new robots to the toolbox, but this PR has got...

Thanks for your interest in the toolbox. The crooked axis case is an important one. However, this seems like a bigger change than I'd have thought. I want to think...

I made some mods to speed it up, and change it to use project.toml, but that file is broken. Will look at that next

Hi @gaolongsen thanks for submitting the model, and I apologise for the very long time in responding. All toolbox models are distributed via PyPI which has quite serious limits on...

@myeatman-bdai a few more thoughts on this PR: - be great to have some more user level documentation and `runblock` examples, and also to integrate it into the ReST documentation,...

> Converted to draft because this uses scipy functionality not available in the version associated with the dependency list for 3.7 python. Not sure we should be held back by...

I did not know that! I will investigate and fix, but am a bit backlogged at the moment. Do you know if PySide is easier to install on Apple silicon?...

I've started this process, but this also involves an effective change from Qt5 to Qt6 which has non trivial changes in methods and enums. Will keep you posted on progress

Still on my todo list and there is a pyside6 branch but still work to be done.