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jbarry-bdai merged 3 commits into from
Apr 28, 2026
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Update links for new org #181

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Update links for new org
jbarry-bdai Apr 28, 2026
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Update README.md
jbarry-bdai Apr 28, 2026
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52 changes: 23 additions & 29 deletions README.md
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Expand Up @@ -8,47 +8,41 @@
![Python Version](https://img.shields.io/pypi/pyversions/spatialmath-python.svg)
[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)

[![Build Status](https://github.com/bdaiinstitute/spatialmath-python/actions/workflows/master.yml/badge.svg?branch=master)](https://github.com/bdaiinstitute/spatialmath-python/actions/workflows/master.yml?query=workflow%3Abuild+branch%3Amaster)
[![Coverage](https://codecov.io/github/bdaiinstitute/spatialmath-python/graph/badge.svg?token=W15FGBA059)](https://codecov.io/github/bdaiinstitute/spatialmath-python)
[![Build Status](https://github.com/rai-opensource/spatialmath-python/actions/workflows/master.yml/badge.svg?branch=master)](https://github.com/rai-opensource/spatialmath-python/actions/workflows/master.yml?query=workflow%3Abuild+branch%3Amaster)
[![Coverage](https://codecov.io/github/rai-opensource/spatialmath-python/graph/badge.svg?token=W15FGBA059)](https://codecov.io/github/rai-opensource/spatialmath-python)
[![PyPI - Downloads](https://img.shields.io/pypi/dw/spatialmath-python)](https://pypistats.org/packages/spatialmath-python)
[![GitHub stars](https://img.shields.io/github/stars/bdaiinstitute/spatialmath-python.svg?style=social&label=Star)](https://GitHub.com/bdaiinstitute/spatialmath-python/stargazers/)
[![GitHub stars](https://img.shields.io/github/stars/rai-opensource/spatialmath-python.svg?style=social&label=Star)](https://GitHub.com/rai-opensource/spatialmath-python/stargazers/)

# Repository Migration Notice

> [!IMPORTANT]
> This repository is moving to the **RAI-Opensource** GitHub organization in **about 2 weeks from April 9, 2026 (UTC)**.
> This repository has moved to the **RAI-Opensource** GitHub organization!
>
> The `github.io` page is now at <https://spatialmath-python.rai-inst.com/>. The old link (`https://bdaiinstitute.github.io/spatialmath-python`) will continue to redirect until repository migration and **then will break**.
> The `github.io` page is now at <https://spatialmath-python.rai-inst.com/>. The old link (`https://bdaiinstitute.github.io/spatialmath-python`) is no longer valid.
>
> Current status: **pre-migration**.
> Migration target org: <https://github.com/RAI-Opensource/spatialmath-python>
> Current status: **Migrated**.
> - Migration target org: https://github.com/RAI-Opensource
> - Previous target org: https://github.com/bdaiinstitute
>
> What to do now:
>
> - Immediately: Update any links of `https://bdaiinstitute.github.io/spatialmath-python` to <https://spatialmath-python.rai-inst.com/>
>
>
> - Watch this repository for the final cutover update and destination repository link.
> - Plan to update your git remote after the move:
>
> - Update your git remote:
> ```bash
> git remote set-url origin https://github.com/rai-opensource/spatialmath-python.git
> ```
>
>

> - Update any links of `https://bdaiinstitute.github.io/spatialmath-python` to <https://spatialmath-python.rai-inst.com/>
> - If you maintain downstream docs/scripts, update links from this repository to the new org.

<table style="border:0px">
<tr style="border:0px">
<td style="border:0px">
<img src="https://github.com/bdaiinstitute/spatialmath-python/raw/master/docs/figs/CartesianSnakes_LogoW.png" width="200"></td>
<img src="https://github.com/rai-opensource/spatialmath-python/raw/master/docs/figs/CartesianSnakes_LogoW.png" width="200"></td>
<td style="border:0px">
A Python implementation of the <a href="https://github.com/petercorke/spatial-math">Spatial Math Toolbox for MATLAB<sup>&reg;</sup></a>
<ul>
<li><a href="https://github.com/bdaiinstitute/spatialmath-python">GitHub repository </a></li>
<li><a href="https://github.com/rai-opensource/spatialmath-python">GitHub repository </a></li>
<li><a href="https://https://spatialmath-python.rai-inst.com">Documentation</a></li>
<li><a href=https://github.com/bdaiinstitute/spatialmath-python/discussions/categories/changes>Recent changes</a>
<li><a href="https://github.com/bdaiinstitute/spatialmath-python/wiki">Wiki (examples and details)</a></li>
<li><a href=https://github.com/rai-opensource/spatialmath-python/discussions/categories/changes>Recent changes</a>
<li><a href="https://github.com/rai-opensource/spatialmath-python/wiki">Wiki (examples and details)</a></li>
<li><a href="installation#">Installation</a></li>
</ul>
</td>
Expand Down Expand Up @@ -98,7 +92,7 @@ These are layered over a set of base functions that perform many of the same ope

The class, method and functions names largely mirror those of the MATLAB toolboxes, and the semantics are quite similar.

![trplot](https://github.com/bdaiinstitute/spatialmath-python/raw/master/docs/figs/fig1.png)
![trplot](https://github.com/rai-opensource/spatialmath-python/raw/master/docs/figs/fig1.png)

![animation video](./docs/figs/animate.gif)

Expand Down Expand Up @@ -127,12 +121,12 @@ If the toolbox helped you in your research, please cite

If you are using the Toolbox in your open source code, feel free to add our badge to your readme!

[![Powered by the Spatial Math Toolbox](https://github.com/bdaiinstitute/spatialmath-python/raw/master/.github/svg/sm_powered.min.svg)](https://github.com/bdaiinstitute/spatialmath-python)
[![Powered by the Spatial Math Toolbox](https://github.com/rai-opensource/spatialmath-python/raw/master/.github/svg/sm_powered.min.svg)](https://github.com/rai-opensource/spatialmath-python)

Simply copy the following

```
[![Powered by the Spatial Math Toolbox](https://github.com/bdaiinstitute/spatialmath-python/raw/master/.github/svg/sm_powered.min.svg)](https://github.com/bdaiinstitute/spatialmath-python)
[![Powered by the Spatial Math Toolbox](https://github.com/rai-opensource/spatialmath-python/raw/master/.github/svg/sm_powered.min.svg)](https://github.com/rai-opensource/spatialmath-python)
```


Expand All @@ -158,7 +152,7 @@ pip install spatialmath-python[ros-humble]
Install the current code base from GitHub and pip install a link to that cloned copy

```
git clone https://github.com/bdaiinstitute/spatialmath-python.git
git clone https://github.com/rai-opensource/spatialmath-python.git
cd spatialmath-python
pip install -e .
# Optional: if you would like to contribute and commit code changes to the repository,
Expand Down Expand Up @@ -302,14 +296,14 @@ t = 1, 2, 3; rpy/zyx = 30, 0, 0 deg
>>> T.plot()
```

![trplot](https://github.com/bdaiinstitute/spatialmath-python/raw/master/docs/figs/fig1.png)
![trplot](https://github.com/rai-opensource/spatialmath-python/raw/master/docs/figs/fig1.png)

`printline` is a compact single line format for tabular listing, whereas `print` shows the underlying matrix and for consoles that support it, it is colorised, with rotational elements in red and translational elements in blue.

For more detail checkout the shipped Python notebooks:

* [gentle introduction](https://github.com/bdaiinstitute/spatialmath-python/blob/master/notebooks/gentle-introduction.ipynb)
* [deeper introduction](https://github.com/bdaiinstitute/spatialmath-python/blob/master/notebooks/introduction.ipynb)
* [gentle introduction](https://github.com/rai-opensource/spatialmath-python/blob/master/notebooks/gentle-introduction.ipynb)
* [deeper introduction](https://github.com/rai-opensource/spatialmath-python/blob/master/notebooks/introduction.ipynb)


You can browse it statically through the links above, or clone the toolbox and run them interactively using [Jupyter](https://jupyter.org) or [JupyterLab](https://jupyter.org).
Expand Down Expand Up @@ -395,7 +389,7 @@ array([-60, 12, 30, 24])

## Graphics

![trplot](https://github.com/bdaiinstitute/spatialmath-python/raw/master/docs/figs/transforms3d.png)
![trplot](https://github.com/rai-opensource/spatialmath-python/raw/master/docs/figs/transforms3d.png)

The functions support various plotting styles

Expand Down
8 changes: 4 additions & 4 deletions pyproject.toml
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Expand Up @@ -45,10 +45,10 @@ dependencies = [
]

[project.urls]
"Homepage" = "https://github.com/bdaiinstitute/spatialmath-python"
"Bug Tracker" = "https://github.com/bdaiinstitute/spatialmath-python/issues"
"Documentation" = "https://bdaiinstitute.github.io/spatialmath-python/"
"Source" = "https://github.com/bdaiinstitute/spatialmath-python"
"Homepage" = "https://github.com/rai-opensource/spatialmath-python"
"Bug Tracker" = "https://github.com/rai-opensource/spatialmath-python/issues"
"Documentation" = "https://rai-opensource.github.io/spatialmath-python/"
"Source" = "https://github.com/rai-opensource/spatialmath-python"

[project.optional-dependencies]

Expand Down
2 changes: 1 addition & 1 deletion tests/test_pose3d.py
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Expand Up @@ -1390,7 +1390,7 @@ def test_rtvec(self):
nt.assert_equal(tvec, [2, 3, 4])

def test_interp(self):
# This data is taken from https://github.com/bdaiinstitute/spatialmath-python/issues/165
# This data is taken from https://github.com/rai-opensource/spatialmath-python/issues/165
se3_1 = SE3()
se3_1.t = np.array(
[0.5705748101710814, 0.29623210833184527, 0.10764106509086407]
Expand Down
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