small bug fixes

Author: jhavl

roboticstoolbox/backends/PyPlot/PyPlot.py

@@ -17,6 +17,7 @@
 try:
     import matplotlib
     import matplotlib.pyplot as plt
+    from mpl_toolkits.mplot3d import Axes3D
     from matplotlib.widgets import Slider
     matplotlib.rcParams['pdf.fonttype'] = 42
     matplotlib.rcParams['ps.fonttype'] = 42

roboticstoolbox/robot/IK.py

@@ -129,11 +129,11 @@ def ikine_LM(
             and rotation about X, Y and Z respectively.
         :type mask: ndarray(6)
         :param ilimit: maximum number of iterations (default 500)
-        :type ilimit: int 
+        :type ilimit: int
         :param rlimit: maximum number of consecutive step rejections (default 100)
-        :type rlimit: int 
+        :type rlimit: int
         :param tol: final error tolerance (default 1e-10)
-        :type tol: float 
+        :type tol: float
         :param L: initial value of lambda
         :type L: float (default 0.1)
         :param Lmin: minimum allowable value of lambda

setup.py

@@ -4,8 +4,8 @@
 here = os.path.abspath(os.path.dirname(__file__))
 
 req = [
-    'numpy',
-    'spatialmath-python>=0.8.4',
+    'numpy>=1.18.0',
+    'spatialmath-python>=0.8.7',
     'pgraph-python',
     'scipy',
     'matplotlib',