Merge master into perf/lazy-matplotlib-import

Resolves conflicts with rai-opensource#200 (trprint refactor) and rai-opensource#202 (dim/dims fix
in tranimate), preserving both: matplotlib.pyplot stays deferred until
trplot()/tranimate() actually plots, and tranimate() keeps rai-opensource#202's
dim/dims kwarg handling with a local (lazy) Animate import.

Author: petercorke

.github/CODEOWNERS

@@ -1,2 +1,2 @@
 # Global Owners
-* @petercorke @jhavl @myeatman-bdai
+* @petercorke @jbarry-bdai @taughz

.github/workflows/master.yml

@@ -2,7 +2,7 @@
 # This workflow will install Python dependencies, run tests and lint with a variety of Python versions
 # For more information see: https://help.github.com/actions/language-and-framework-guides/using-python-with-github-actions
 
-name: build
+name: CI
 
 on:
   push:

.github/workflows/sphinx.yml

@@ -29,7 +29,7 @@ jobs:
         cd ../
     - name: Commit documentation changes
       run: |
-        git clone https://github.com/petercorke/spatialmath-python.git --branch gh-pages --single-branch gh-pages
+        git clone https://github.com/${{ github.repository }}.git --branch gh-pages --single-branch gh-pages
         cp -r docs/build/html/* gh-pages/
         cd gh-pages
         git config --local user.email "action@github.com"

README.md

@@ -452,7 +452,7 @@ Similarly when we assign an element or slice of the symbolic matrix to a numeric
 
 On April 28, 2026 this repository moved to the **RAI-Opensource** GitHub organization.  If you are still pulling from the previous bdaiinstitute GitHub organization, please update your git remote:
    ```bash
-   git remote set-url origin https://github.com/RAI-Opensource/spot_ros2
+   git remote set-url origin https://github.com/RAI-Opensource/spatialmath-python.git
    ```
 
 Also update any links of `https://bdaiinstitute.github.io/spatialmath-python` to  <https://spatialmath-python.rai-inst.com/>.

docs/source/classes-2d.rst

@@ -262,6 +262,7 @@ The classes ``SE3``, ``SO3``, ``SE2`` and ``SO2`` can provide colorized text out
 
 .. image:: ../figs/colored_output.png
    :width: 300
+
 with rotational elements in red, translational elements in blue and constants in grey.
 
 The foreground and background colors can be controlled using the following
@@ -538,8 +539,10 @@ A numpy column vector has shape ``(N,1)`` and a row vector
 has shape ``(1,N)`` but functions also accept row ``(1,N)``  and column ``(N,1)`` 
 where a vector argument is required.  
 
-.. warning:: For a user transitioning from MATLAB the most significant
-  differences are:
+.. warning::
+
+  For a user transitioning from MATLAB the most significant differences are:
+
     - the use of 1D arrays -- all MATLAB arrays have two dimensions,
       even if one of them is equal to one.
     - Iterating over a 1D NumPy array (N,) returns consecutive elements

docs/source/classes-3d.rst

@@ -1,6 +1,6 @@
 [project]
 name = "spatialmath-python"
-version = "1.1.16"
+version = "1.1.17"
 authors = [
   { name="Peter Corke", email="rvc@petercorke.com" },
 ]

docs/source/intro.rst

@@ -338,7 +338,7 @@ def SE3(self) -> SE3:
 
         .. runblock:: pycon
 
-            >>> from spatialmath import DualQuaternion, SE3
+            >>> from spatialmath import UnitDualQuaternion, SE3
             >>> T = SE3.Rand()
             >>> print(T)
             >>> d = UnitDualQuaternion(T)

pyproject.toml

@@ -258,6 +258,7 @@ def __getattr__(name):
     "qprint",
     "q2str",
     # spatialmath.base.transforms2d
+    "pos2tr2",
     "rot2",
     "trot2",
     "transl2",
@@ -267,8 +268,12 @@ def __getattr__(name):
     "trexp2",
     "trnorm2",
     "tr2jac2",
+    "tr2pos2",
+    "tr2adjoint2",
+    "tradjoint2",
     "trinterp2",
     "trprint2",
+    "tr2str2",
     "trplot2",
     "tranimate2",
     "xyt2tr",
@@ -312,6 +317,7 @@ def __getattr__(name):
     "exp2jac",
     "rot2jac",
     "trprint",
+    "tr2str",
     "trplot",
     "tranimate",
     "tr2x",