fix: model scripts silently relying on ambient np/mkgrid imports - #46
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fix: model scripts silently relying on ambient np/mkgrid imports#46petercorke wants to merge 1 commit into
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6 of the 12 IBVS-*-main.py / other -main.py scripts under RVC3/models were missing imports their own code (or their .bd file's eval'd parameter expressions, which run against the calling script's own globals() via bdload(globalvars=globals())) actually needs: - IBVS-arm-main.py: np, mkgrid (both .bd-expression only) - IBVS-holonomic-main.py: np (script body) - IBVS-main.py: np, mkgrid (both .bd-expression only) - IBVS-nonholonomic-main.py: np (script body) - IBVS-partitioned-main.py: np (body + .bd expr), mkgrid (.bd expr) - IBVS-quadrotor-main.py: np, mkgrid (both script body) These only ever worked when %run -i'd from rvctool/a notebook, which happens to pre-import numpy and (via machinevisiontoolbox.base) mkgrid into the shared namespace before these scripts run -- silently masking the gap. Surfaced by the new rvc3-model command (docs/getting-going branch), which runs these scripts standalone with no such ambient namespace. The other 6 scripts flagged by an initial grep-for-numpy-import pass (computed-torque-main.py, driveconfig.py, drivepoint.py, feedforward-main.py, jointspace.py, lanechange.py) turned out to be false positives -- they don't need numpy directly and already run clean standalone; left untouched. 3 of the 6 fixed here (holonomic, nonholonomic, quadrotor) still hit a separate, already-tracked bug once past the import stage: their .bd files use stale bdsim parameter names (args/kwargs -> fargs/fkwargs, maxw/minw -> wmax/wmin), fixed on fix/notebook-errata against different files (.bd JSON, not .py). Non-overlapping, will combine cleanly whenever both branches land. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
6 of the 12
IBVS-*-main.py/other-main.pyscripts underRVC3/modelswere missing imports their own code (or their.bdfile'seval'd parameter expressions, which run against the calling script's ownglobals()viabdload(globalvars=globals())) actually needs:IBVS-arm-main.py:np,mkgrid(both.bd-expression only)IBVS-holonomic-main.py:np(script body)IBVS-main.py:np,mkgrid(both.bd-expression only)IBVS-nonholonomic-main.py:np(script body)IBVS-partitioned-main.py:np(body +.bdexpr),mkgrid(.bdexpr)IBVS-quadrotor-main.py:np,mkgrid(both script body)These only ever worked when
%run -i'd fromrvctool/a notebook, which happens to pre-importnumpyand (viamachinevisiontoolbox.base)mkgridinto the shared namespace before these scripts run -- silently masking the gap. Surfaced by a newrvc3-modelcommand (companion PR,docs/getting-going) which runs these scripts standalone with no such ambient namespace.The other 6 scripts an initial grep-for-numpy-import pass flagged (
computed-torque-main.py,driveconfig.py,drivepoint.py,feedforward-main.py,jointspace.py,lanechange.py) turned out to be false positives -- they don't need numpy directly and already run clean standalone; left untouched.3 of the 6 fixed here (holonomic, nonholonomic, quadrotor) still hit a separate, already-tracked bug once past the import stage: their
.bdfiles use stale bdsim parameter names, fixed in #45 against different files (.bdJSON, not.py). Non-overlapping changes, will combine cleanly whenever both land.Test plan
BDSIM_NO_GRAPHICS=1 MPLBACKEND=Agg python RVC3/models/<script>.py) past the import/eval stage