Add optional robot and parts model packages

.github/workflows/tests.yaml

@@ -0,0 +1,34 @@
+---
+name: Tests
+
+on:
+  pull_request:
+  push:
+    branches: [master]
+  workflow_dispatch:
+
+jobs:
+  test:
+    runs-on: ubuntu-22.04
+
+    steps:
+      - name: Check out code
+        uses: actions/checkout@v4
+
+      - name: Set up Python
+        uses: actions/setup-python@v5
+        with:
+          python-version: "3.10"
+
+      - name: Install package and test dependencies
+        run: |
+          python -m pip install --upgrade pip
+          python -m pip install -r requirements.txt
+          python -m pip install -r requirements-dev.txt
+          python -m pip install --no-deps -e .
+
+      - name: Run tests
+        env:
+          MPLBACKEND: Agg
+        run: |
+          python -m pytest

.gitignore

@@ -6,7 +6,7 @@ eggs/
 .eggs/
 lib/
 lib64/
-parts/
+/parts/
 sdist/
 var/
 .installed.cfg
@@ -18,6 +18,8 @@ MANIFEST
 *.spec
 .cache
 .ipynb_checkpoints
+.pytest_cache/
+pytest-cache-files-*/
 .python-version
 .vscode/
 env/

README.md

@@ -15,7 +15,7 @@ then
 pip install ir-support
 ```
 
-Currently, it gets tested on Python 3.8 - 3.11
+It is currently tested on Python 3.8 - 3.11
 
 # Contact
  - via 41013 subject teams site

ir_support/__init__.py

@@ -1,7 +1,14 @@
+from . import classes, functions, plyclasses, plyprocess, robots
 from .classes import *
 from .functions import *
 from .plyclasses import *
 from .plyprocess import *
 from .robots import *
 
-__all__ = classes.__all__ + functions.__all__ + plyclasses.__all__ + plyprocess.__all__ + robots.__all__
+__all__ = (
+    classes.__all__
+    + functions.__all__
+    + plyclasses.__all__
+    + plyprocess.__all__
+    + robots.__all__
+)

ir_support/classes/DHRobotPlotter.py

@@ -1,3 +1,9 @@
+##  @file
+#   @brief A class to create a 3D Robot defined by standard DH parameters, that can be displayed in the `Swift` simulator.
+#
+#   @author Ho Minh Quang Ngo, Gavin Paul
+#   @date May 29, 2026
+
 import roboticstoolbox as rtb
 import numpy as np
 from spatialgeometry import Cylinder
@@ -15,17 +21,17 @@ def __init__(self, robot, cylinder_radius=0.02, color="#3478f6", multicolor=Fals
         self.cylinder_radius = cylinder_radius
         self.multicolor = multicolor
 
-        # Handle color options
+        # Handle colour options
         if multicolor:
             self.colors = self._generate_color_palette(len(robot.links))
         elif isinstance(color, list):
             self.colors = color
         else:
-            self.colors = [color]  # Single color for all links
+            self.colors = [color]  # Single colour for all links
 
 
     def _generate_color_palette(self, num_colors):
-        """Generate a distinct color palette for multi-colored links"""
+        """Generate a distinct colour palette for multicoloured links"""
         import colorsys
 
         colors = []
@@ -34,7 +40,7 @@ def _generate_color_palette(self, num_colors):
             saturation = 0.8
             value = 0.9
             rgb = colorsys.hsv_to_rgb(hue, saturation, value)
-            # Convert to hex or named color for Swift
+            # Convert to hex or named colour for Swift
             hex_color = '#{:02x}{:02x}{:02x}'.format(
                 int(rgb[0]*255), int(rgb[1]*255), int(rgb[2]*255)
             )
@@ -133,7 +139,7 @@ def _create_cylinder_for_link(self, start_frame, end_frame, link_frame, color=No
         # Create transformation matrix in local coordinates
         cylinder_pose = SE3.Rt(rotation, center)
 
-        # Use provided color or default
+        # Use provided colour or default
         if color is None:
             color = self.colors[0] if self.colors else "#3478f6"
 
@@ -270,4 +276,4 @@ def create_enhanced_geometry_robot(robot, cylinder_radius=0.02, joint_radius=0.0
 
 
 if __name__ == "__main__":
-    demo_geometry_robot()
+    demo_geometry_robot()

ir_support/classes/EllipsoidRobot.py

@@ -1,7 +1,10 @@
-# Require libraries
+##  @file
+#   @brief Generate and animate link ellipsoids for DH robots.
+#   @author 41013 Teaching Team, Gavin Paul
+#   @date May 29, 2026
+
 from typing import Optional, Union
 from roboticstoolbox.backends import PyPlot
-from scipy import linalg
 from ir_support.functions import make_ellipsoid
 import numpy as np
 import matplotlib.pyplot as plt
@@ -40,11 +43,11 @@ def __init__(self, robot: rtb.DHRobot,
             self.robot = robot
         else:
             raise TypeError('Invalid input robot type. Requires DHRobot!')
-        if q == None:
+        if q is None:
             self.q = robot.q
         else:
             self.q = q
-        if fig == None or not isinstance(fig, PyPlot.PyPlot):
+        if fig is None or not isinstance(fig, PyPlot.PyPlot):
             warnings.warn("No input figure or invalid input figure. Use the robot's plot method instead")
             self.fig = robot.plot(self.q)
         else:
@@ -80,13 +83,16 @@ def ellipsoid_for_robot_links(self,q):
             ax2 = ellipsoid['ax2']
             ax3 = ellipsoid['ax3']
 
-            # Normalize ax1, ax2, ax3 if their norms are not zero
-            if linalg.norm(ax1) != 0:
-                ax1 = ax1 / linalg.norm(ax1)
-            if linalg.norm(ax2) != 0:
-                ax2 = ax2 / linalg.norm(ax2)
-            if linalg.norm(ax3) != 0:
-                ax3 = ax3 / linalg.norm(ax3)
+            # Normalise ax1, ax2, ax3 if their norms are not zero
+            ax1_norm = np.linalg.norm(ax1)
+            ax2_norm = np.linalg.norm(ax2)
+            ax3_norm = np.linalg.norm(ax3)
+            if ax1_norm != 0:
+                ax1 = ax1 / ax1_norm
+            if ax2_norm != 0:
+                ax2 = ax2 / ax2_norm
+            if ax3_norm != 0:
+                ax3 = ax3 / ax3_norm
 
             axes_matrix = np.column_stack((ax1, ax2, ax3))
             diagonal_matrix = np.diag(np.square([np.linalg.norm(ellipsoid['ax1']/2),
@@ -184,7 +190,7 @@ def on_enter_press(event):
     # ---------------------------------------------------------------------------------------#
     def get_ellipsoid_parameters(self, link_index: int):
         """
-        Get center point, orientation matrix, and radii for a given link's ellipsoid.
+        Get centre point, orientation matrix, and radii for a given link's ellipsoid.
 
         Parameters
         ----------
@@ -194,7 +200,7 @@ def get_ellipsoid_parameters(self, link_index: int):
         Returns
         -------
         center_point : np.ndarray
-            Translation vector [xc, yc, zc]
+            Centre translation vector [xc, yc, zc]
         R : np.ndarray
             3x3 orientation matrix (columns are principal axes)
         radii : np.ndarray

ir_support/classes/RectangularPrism.py

@@ -1,3 +1,8 @@
+##  @file
+#   @brief Utility class for rectangular-prism collision geometry.
+#   @author 41013 Teaching Team, Gavin Paul
+#   @date May 29, 2026
+
 import numpy as np
 import matplotlib.pyplot as plt
 from mpl_toolkits.mplot3d.art3d import Poly3DCollection
@@ -23,7 +28,7 @@ def __init__(self, width:float=1, length:float=1, height:float=1, color=[0, 0, 1
         self.width = width
         self.length = length
         self.height = height
-        self.center = center
+        self.center = np.asarray(center, dtype=float)
         self.color = color
         self.options = []
 
@@ -36,22 +41,18 @@ def __init__(self, width:float=1, length:float=1, height:float=1, color=[0, 0, 1
         self._plot_prism()
 
     def _calculate_vertices(self):
-        vertices = np.zeros((8, 3))
-        vertices[1] = [self.width, 0, 0]
-        vertices[2] = [self.width, self.length, 0]
-        vertices[3] = [0, self.length, 0]
-        vertices[4] = [0, 0, self.height]
-        vertices[5] = [self.width, 0, self.height]
-        vertices[6] = [self.width, self.length, self.height]
-        vertices[7] = [0, self.length, self.height]
-
-        # Shift vertices based on the center point
-        vertices -= np.array([self.width/2, self.length/2, self.height/2])  # Subtract half of width, length, and height
-
-        # Translate the vertices to the specified center
-        vertices += np.array(self.center)
-
-        return vertices
+        extents = np.array([self.width, self.length, self.height], dtype=float)
+        vertices = np.array([
+            [0, 0, 0],
+            [self.width, 0, 0],
+            [self.width, self.length, 0],
+            [0, self.length, 0],
+            [0, 0, self.height],
+            [self.width, 0, self.height],
+            [self.width, self.length, self.height],
+            [0, self.length, self.height],
+        ], dtype=float)
+        return vertices - extents / 2 + self.center
 
     def _calculate_faces(self):
         faces = [
@@ -65,13 +66,13 @@ def _calculate_faces(self):
         return faces
 
     def _calculate_normals(self):
-        normals = []
-        for face in self._faces:
-            v1 = self._vertices[face[1]] - self._vertices[face[0]]
-            v2 = self._vertices[face[2]] - self._vertices[face[1]]
-            normal = np.cross(v1, v2)
-            normals.append(normal)
-        return normals
+        return [
+            np.cross(
+                self._vertices[face[1]] - self._vertices[face[0]],
+                self._vertices[face[2]] - self._vertices[face[1]]
+            )
+            for face in self._faces
+        ]
 
     def _plot_prism(self):
         existing_axes = plt.gcf().axes

ir_support/functions/draw_possible_ellipse_given_foci.py

@@ -1,9 +1,15 @@
+##  @file
+#   @brief A function to draw an ellipse given its foci
+#
+#   @author Ho Minh Quang Ngo, Gavin Paul
+#   @date May 29, 2026
+
 import numpy as np
 import matplotlib.pyplot as plt
 
 def draw_possible_ellipse_given_foci(focus1:np.ndarray, focus2:np.ndarray, a=None, ax=None):
     """
-    Simple custom function to draw an ellipse with 2 given focii
+    Simple custom function to draw an ellipse with 2 given foci
 
     Parameters
     ----------
@@ -12,7 +18,7 @@ def draw_possible_ellipse_given_foci(focus1:np.ndarray, focus2:np.ndarray, a=Non
     focus2 : np.ndarray
         Second focus of the ellipse
     a : float, optional
-        Default length for semi-major axis of the ellipse, by default 0.75 * distance between focii
+        Default length for semi-major axis of the ellipse, by default 0.75 * distance between foci
     ax : matplotlib.axes.Axes, optional
         Axes to plot the ellipse, by default None
     """

ir_support/functions/line_plane_intersection.py

@@ -1,3 +1,8 @@
+##  @file
+#   @brief Find the intersection between a line segment and a plane.
+#   @author Gavin Paul
+#   @date May 29, 2026
+
 import numpy as np
 from typing import Union, List, Tuple
 
@@ -24,25 +29,30 @@ def line_plane_intersection(plane_normal:Union[np.ndarray, List[float]],
         Second point on the line
     """
 
-    intersection_point = [0,0,0]
-    u = np.array(point2_on_line) - np.array(point1_on_line)
-    w = np.array(point1_on_line) - np.array(point_on_plane)
-    D = np.dot(np.array(plane_normal), u)
-    N = -np.dot(np.array(plane_normal), w)
+    plane_normal = np.asarray(plane_normal, dtype=float)
+    point_on_plane = np.asarray(point_on_plane, dtype=float)
+    point1_on_line = np.asarray(point1_on_line, dtype=float)
+    point2_on_line = np.asarray(point2_on_line, dtype=float)
+
+    intersection_point = np.zeros(3)
+    line_vector = point2_on_line - point1_on_line
+    plane_to_line = point1_on_line - point_on_plane
+    denominator = np.dot(plane_normal, line_vector)
+    numerator = -np.dot(plane_normal, plane_to_line)
     check = 0
 
-    if np.abs(D) < pow(10,-7):                          # The segment is parallel to plane
-        if N == 0:                                      # The segment lies in plane
+    if np.abs(denominator) < 1e-7:                      # The segment is parallel to plane
+        if np.isclose(numerator, 0):                    # The segment lies in plane
             check = 2
             return intersection_point, check
         else:
             return intersection_point, check            # No intersection
 
     # Compute the intersection parameter
-    sI = N/D
-    intersection_point = point1_on_line + sI * u
+    segment_fraction = numerator / denominator
+    intersection_point = point1_on_line + segment_fraction * line_vector
 
-    if sI < 0 or sI > 1:
+    if segment_fraction < 0 or segment_fraction > 1:
         check = 3                                       # The intersection point lies outside the segment, so there is no intersection
     else:
         check = 1