Merge branch 'rai-opensource:master' into perf/lazy-sympy

Author: RoboX2020

.github/workflows/master.yml

@@ -77,6 +77,12 @@ jobs:
         file: ./coverage.xml
   sphinx:
     # If the above worked:
-    # Build docs and upload to GH Pages
+    # Build docs and upload to GH Pages -- only on push (merge to master/future),
+    # never on pull_request: a PR whose branch lives in a fork (including the
+    # author's own fork) gets a read-only GITHUB_TOKEN by GitHub's own design,
+    # so the gh-pages push step always fails there regardless of repo settings.
+    # Publishing unreviewed PR content to the live docs site isn't desired
+    # either way.
     needs: unittest
+    if: ${{ github.event_name != 'pull_request' }}
     uses: ./.github/workflows/sphinx.yml

.github/workflows/sphinx.yml

@@ -6,7 +6,6 @@ on:
 jobs:
   sphinx:
     runs-on: ubuntu-22.04
-    # if: ${{ github.event_name != 'pull_request' }}
     steps:
     - uses: actions/checkout@v4
     - name: Set up Python 3.12

pyproject.toml

@@ -37,7 +37,7 @@ dependencies = [
     "scipy",
     "matplotlib",
     "ansitable",
-    "typing_extensions",
+    "typing_extensions>=4.0.0",
     "pre-commit",
 ]
 

spatialmath/__init__.py

@@ -51,5 +51,8 @@
     import importlib.metadata
 
     __version__ = importlib.metadata.version("spatialmath-python")
-except:
-    pass
+except importlib.metadata.PackageNotFoundError:
+    # running from a source checkout without an installed/editable
+    # spatialmath-python distribution -- e.g. importing straight from
+    # the repo root
+    __version__ = "unknown"