From dec0270cda7a5e2dfc612c2d23aa0070882afa06 Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 17:55:54 +0100
Subject: [PATCH 1/7] update the build system to hatchling as reccomended by
 pixi

---
 pyproject.toml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/pyproject.toml b/pyproject.toml
index ade04ea..42765a0 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -13,8 +13,8 @@ dependencies = [
 ]
 
 [build-system]
-requires = ["setuptools"]
-build-backend = "setuptools.build_meta"
+requires = ["hatchling"]
+build-backend = "hatchling.build"
 
 [tool.pixi.project]
 channels = ["conda-forge"]

From c7e02a019112957f4dd26c2e3534c518148a2758 Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 17:57:14 +0100
Subject: [PATCH 2/7] add: pixi tasks to run the demos

---
 README.md      | 11 +++++++++++
 pyproject.toml |  5 +++++
 2 files changed, 16 insertions(+)

diff --git a/README.md b/README.md
index 3bd8cc5..ae5231e 100644
--- a/README.md
+++ b/README.md
@@ -24,3 +24,14 @@ pip install .
 ## Usage
 
 (TODO)
+
+## Demo
+
+If you have [pixi](https://github.com/prefix-dev/pixi) can run the demos with:
+
+
+```bash
+pixi run demo_task_space
+#or
+pixi run demo_impedance
+```
diff --git a/pyproject.toml b/pyproject.toml
index 42765a0..3d9c704 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -25,3 +25,8 @@ pybullet_robot = { path = ".", editable = true }
 
 [tool.pixi.dependencies]
 python = ">=3.10"
+
+[tool.pixi.tasks]
+demo_task_space = "python3 ./examples/demo_task_space_control.py"
+demo_impedance = "python3 ./examples/demo_task_space_control.py"
+

From b01992b34e63cf1356fe95dabb19759c29380bb6 Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 17:58:11 +0100
Subject: [PATCH 3/7] update pixi.lock

---
 pixi.lock | 176 +++++++++++++++++++++++++++++++-----------------------
 1 file changed, 100 insertions(+), 76 deletions(-)

diff --git a/pixi.lock b/pixi.lock
index c792169..fc4d4e0 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -10,30 +10,31 @@ environments:
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       - conda: https://conda.anaconda.org/conda-forge/linux-64/bzip2-1.0.8-h4bc722e_7.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.7.4-hbcca054_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/ld_impl_linux-64-2.40-hf3520f5_7.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libexpat-2.6.2-h59595ed_0.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libffi-3.4.2-h7f98852_5.tar.bz2
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-14.1.0-h77fa898_0.conda
-      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-14.1.0-h77fa898_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-14.1.0-h77fa898_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgcc-ng-14.1.0-h69a702a_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/libgomp-14.1.0-h77fa898_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/libnsl-2.0.1-hd590300_0.conda
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-      - conda: https://conda.anaconda.org/conda-forge/linux-64/python-3.12.4-h194c7f8_0_cpython.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/ncurses-6.5-he02047a_1.conda
+      - conda: https://conda.anaconda.org/conda-forge/linux-64/openssl-3.3.1-hb9d3cd8_3.conda
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-      - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda
+      - conda: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h8827d51_1.conda
       - conda: https://conda.anaconda.org/conda-forge/linux-64/xz-5.2.6-h166bdaf_0.tar.bz2
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+      - pypi: https://files.pythonhosted.org/packages/48/3e/bf807eb050abc23adc556f34fcf931ca2d67ad8dfc9c17fcd9332c01347f/numpy-2.1.0-cp312-cp312-manylinux_2_17_x86_64.manylinux2014_x86_64.whl
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+      - pypi: https://files.pythonhosted.org/packages/4f/0b/49d4d4cd84ffa2d7aded910d0c27f144bdd98e5fbca452b40882c2c0c16e/robot_descriptions-1.12.0-py3-none-any.whl
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       - pypi: .
@@ -88,16 +89,16 @@ packages:
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   name: ca-certificates
-  version: 2024.7.4
+  version: 2024.8.30
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-  md5: 23ab7665c5f63cfb9f1f6195256daac6
+  url: https://conda.anaconda.org/conda-forge/linux-64/ca-certificates-2024.8.30-hbcca054_0.conda
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+  md5: c27d1c142233b5bc9ca570c6e2e0c244
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+  size: 159003
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   requires_dist:
   - gitdb<5,>=4.0.1
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+  - typing-extensions>=3.7.4.3 ; python_full_version < '3.8'
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   - sphinx-rtd-theme ; extra == 'doc'
   - sphinxcontrib-applehelp<=1.0.4,>=1.0.2 ; extra == 'doc'
@@ -131,8 +132,8 @@ packages:
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   - pytest-mock ; extra == 'test'
   - pytest-sugar ; extra == 'test'
-  - typing-extensions ; python_version < '3.11' and extra == 'test'
-  - mock ; python_version < '3.8' and extra == 'test'
+  - typing-extensions ; python_full_version < '3.11' and extra == 'test'
+  - mock ; python_full_version < '3.8' and extra == 'test'
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   name: ld_impl_linux-64
@@ -184,38 +185,57 @@ packages:
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   version: 0.1.4
   path: .
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@@ -353,13 +373,14 @@ packages:
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-  version: 3.12.4
-  build: h194c7f8_0_cpython
+  version: 3.12.5
+  build: h2ad013b_0_cpython
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   license: Python-2.0
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   - ninja ; sys_platform != 'emscripten' and extra == 'test'
-  - sphinx>=5.0.0 ; extra == 'doc'
+  - sphinx<=7.3.7,>=5.0.0 ; extra == 'doc'
   - pydata-sphinx-theme>=0.15.2 ; extra == 'doc'
   - sphinx-design>=0.4.0 ; extra == 'doc'
   - matplotlib>=3.5 ; extra == 'doc'
@@ -495,16 +518,17 @@ packages:
 - kind: conda
   name: tzdata
   version: 2024a
-  build: h0c530f3_0
+  build: h8827d51_1
+  build_number: 1
   subdir: noarch
   noarch: generic
-  url: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h0c530f3_0.conda
-  sha256: 7b2b69c54ec62a243eb6fba2391b5e443421608c3ae5dbff938ad33ca8db5122
-  md5: 161081fc7cec0bfda0d86d7cb595f8d8
+  url: https://conda.anaconda.org/conda-forge/noarch/tzdata-2024a-h8827d51_1.conda
+  sha256: 7d21c95f61319dba9209ca17d1935e6128af4235a67ee4e57a00908a1450081e
+  md5: 8bfdead4e0fff0383ae4c9c50d0531bd
   license: LicenseRef-Public-Domain
   purls: []
-  size: 119815
-  timestamp: 1706886945727
+  size: 124164
+  timestamp: 1724736371498
 - kind: conda
   name: xz
   version: 5.2.6

From e557039409c7802c2699bcad40f3d5f6a2d80406 Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 18:32:33 +0100
Subject: [PATCH 4/7] update impedance demo path

---
 pyproject.toml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pyproject.toml b/pyproject.toml
index 3d9c704..ef03f92 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -28,5 +28,5 @@ python = ">=3.10"
 
 [tool.pixi.tasks]
 demo_task_space = "python3 ./examples/demo_task_space_control.py"
-demo_impedance = "python3 ./examples/demo_task_space_control.py"
+demo_impedance = "python3 ./examples/impedance_controllers.py"
 

From 2abaa5aa441c53d947731e65188872b84c7b1702 Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 18:32:39 +0100
Subject: [PATCH 5/7] update lock file

---
 pixi.lock | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/pixi.lock b/pixi.lock
index fc4d4e0..820a0af 100644
--- a/pixi.lock
+++ b/pixi.lock
@@ -363,7 +363,7 @@ packages:
   name: pybullet-robot
   version: 0.1.4
   path: .
-  sha256: 09c3ca863e4180774b41d8996f03f0f315a1e861cc8098652cf43c8e76b1a511
+  sha256: ec4aa702c589213ba5cc86ea82e5216e707ef3481ddbb1be9aaf931c3a3aa783
   requires_dist:
   - robot-descriptions>=1.11.0,<2
   - numpy>=1.6,<3

From b731b8efb70b734a9fb49d76442d5ed101c1710b Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 18:33:00 +0100
Subject: [PATCH 6/7] Update README.md

Co-authored-by: sourcery-ai[bot] <58596630+sourcery-ai[bot]@users.noreply.github.com>
---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index ae5231e..402122d 100644
--- a/README.md
+++ b/README.md
@@ -27,7 +27,7 @@ pip install .
 
 ## Demo
 
-If you have [pixi](https://github.com/prefix-dev/pixi) can run the demos with:
+If you have [pixi](https://github.com/prefix-dev/pixi) you can run the demos with:
 
 
 ```bash

From d09ce1cc4f50fdcd4858f716856170c9eea76857 Mon Sep 17 00:00:00 2001
From: Austin Gregg-Smith <blooop@gmail.com>
Date: Fri, 30 Aug 2024 18:34:47 +0100
Subject: [PATCH 7/7] fix comment formatting

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 402122d..9e617df 100644
--- a/README.md
+++ b/README.md
@@ -32,6 +32,6 @@ If you have [pixi](https://github.com/prefix-dev/pixi) you can run the demos wit
 
 ```bash
 pixi run demo_task_space
-#or
+# or
 pixi run demo_impedance
 ```