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fix: restore pvplus.py, fix pyvista API drift, drop rvcprint from figure scripts #44

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f78ca84
fix: restore pvplus.py, fix pyvista API drift, drop rvcprint from fig…
petercorke Aug 17, 2026
f252b44
fix: scope rvcprint cleanup to figures/3d/ only, remove where unused
petercorke Aug 17, 2026
c57f459
docs: fix package name typo in figures/code/README.md
petercorke Aug 17, 2026
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441 changes: 441 additions & 0 deletions RVC3/tools/pvplus.py
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3 changes: 1 addition & 2 deletions figures/3d/fig2_14.py
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Expand Up @@ -3,8 +3,7 @@
import numpy as np
from spatialmath import SE3
from math import cos, sin, pi
import pvplus
import rvcprint
from RVC3.tools import pvplus


plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000), off_screen=True)
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3 changes: 1 addition & 2 deletions figures/3d/fig2_16.py
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import numpy as np
from spatialmath import SE3
from math import pi
import pvplus
import rvcprint
from RVC3.tools import pvplus

plotter = pv.Plotter(border=False, polygon_smoothing=True, window_size=(2000,1000))
plotter.set_background('white')
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1 change: 0 additions & 1 deletion figures/3d/fig2_24.py
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from spatialmath import SE3, Twist3
from spatialmath import base
from math import cos, sin, pi
import rvcprint
from PIL import Image

def add_arrow(i, T):
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2 changes: 1 addition & 1 deletion figures/3d/fig2_4.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))

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2 changes: 1 addition & 1 deletion figures/3d/fig3_1a.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
plotter.enable_parallel_projection()
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2 changes: 1 addition & 1 deletion figures/3d/fig3_1b.py
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import numpy as np
from spatialmath import SE3
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus


plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
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2 changes: 1 addition & 1 deletion figures/3d/fig7_13a.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

def zoom(plotter, value):
if not plotter.camera_set:
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2 changes: 1 addition & 1 deletion figures/3d/fig7_4a.py
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Expand Up @@ -6,7 +6,7 @@
from math import cos, sin, pi
from roboticstoolbox import ETS2 as ET

import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
overlap = 0.2
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2 changes: 1 addition & 1 deletion figures/3d/fig7_4b.py
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from math import cos, sin, pi


import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
overlap = 0.2
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2 changes: 1 addition & 1 deletion figures/3d/fig7_4c.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus



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2 changes: 1 addition & 1 deletion figures/3d/fig7_7.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

def zoom(plotter, value):
if not plotter.camera_set:
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3 changes: 1 addition & 2 deletions figures/3d/fig8_8a.py
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Expand Up @@ -5,9 +5,8 @@
# from spatialmath import SE3
from spatialmath import base
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
import roboticstoolbox as rtb
from rvcprint import outfile

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
print(pv.__version__)
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3 changes: 1 addition & 2 deletions figures/3d/fig8_8b.py
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# from spatialmath import SE3
from spatialmath import base
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
import roboticstoolbox as rtb
from rvcprint import outfile


plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
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3 changes: 1 addition & 2 deletions figures/3d/fig9_17.py
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# from spatialmath import SE3
from spatialmath import base
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
import roboticstoolbox as rtb
from rvcprint import outfile

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
print(pv.__version__)
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2 changes: 1 addition & 1 deletion figures/code/README.md
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Expand Up @@ -35,7 +35,7 @@ saving --> fig10_20.pdf
Some files generate multiple sub-figures with lowercase letter suffixes.

All these files use `RVC3.tools.rvcprint` to save the created files. The
package `rvcpython` must have been installed.
package `rvc3python` must have been installed.



2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_14.py
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import numpy as np
from spatialmath import SE3
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
from RVC3.tools import rvcprint


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2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_15.py
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import pyvista as pv
import numpy as np
from spatialmath import SE3
import pvplus
from RVC3.tools import pvplus
from RVC3.tools import rvcprint

plotter = pv.Plotter(shape=(2,3), border=False, polygon_smoothing=True, window_size=(2000,1000))
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2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_16.py
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import numpy as np
from spatialmath import SE3
from math import pi
import pvplus
from RVC3.tools import pvplus
from RVC3.tools import rvcprint

plotter = pv.Plotter(shape=(2,3), border=False, polygon_smoothing=True, window_size=(2000,1000))
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2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_4.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))

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2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_6/aruco_markers.py
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import cv2.aruco as aruco
from spatialmath import SE3, SO3
import pyvista as pv
import pvplus
from RVC3.tools import pvplus


def main():
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2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_6/aruco_markers_pyvista.py
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import cv2.aruco as aruco
from spatialmath import SE3
import pyvista as pv
import pvplus
from RVC3.tools import pvplus


def main():
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2 changes: 1 addition & 1 deletion figures/code/chapter2/fig2_6/fig2_6.py
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import matplotlib.pyplot as plt
import pyvista as pv
import vtk
import pvplus
from RVC3.tools import pvplus

scene = Image('IMG_8787.JPG')

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2 changes: 1 addition & 1 deletion figures/code/chapter2/screw.py
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import pyvista as pv
import numpy as np
from spatialmath import SE3
import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(shape=(2,3), border=False, polygon_smoothing=True, window_size=(2000,1000))
plotter.enable_parallel_projection()
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2 changes: 1 addition & 1 deletion figures/code/chapter2/vtkbug2.py
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import matplotlib.pyplot as plt
import pyvista as pv
import vtk
import pvplus
from RVC3.tools import pvplus
from spatialmath import SE3
import numpy as np

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2 changes: 1 addition & 1 deletion figures/code/chapter3/fig3_1a.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
plotter.enable_parallel_projection()
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2 changes: 1 addition & 1 deletion figures/code/chapter3/fig3_1b.py
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import numpy as np
from spatialmath import SE3
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus


plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
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2 changes: 1 addition & 1 deletion figures/code/chapter3/fig3_1c.py
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import numpy as np
from spatialmath import SE3
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus


plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_10b.py
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from roboticstoolbox import *
import pyvista as pv
import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))

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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_13a.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

def zoom(plotter, value):
if not plotter.camera_set:
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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_4a.py
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from math import cos, sin, pi
from roboticstoolbox import ETS2 as ET

import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
overlap = 0.2
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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_4b.py
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from math import cos, sin, pi


import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
overlap = 0.2
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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_4c.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus



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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_6.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

def zoom(plotter, value):
if not plotter.camera_set:
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2 changes: 1 addition & 1 deletion figures/code/chapter7/fig7_7.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

def zoom(plotter, value):
if not plotter.camera_set:
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2 changes: 1 addition & 1 deletion figures/code/chapter7/pyvista/extrude.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus

def zoom(plotter, value):
if not plotter.camera_set:
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2 changes: 1 addition & 1 deletion figures/code/chapter7/pyvista/fig7_2a.py
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from roboticstoolbox import ETS2 as ET


import pvplus
from RVC3.tools import pvplus


plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
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2 changes: 1 addition & 1 deletion figures/code/chapter7/pyvista/fig7_2b.py
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from math import cos, sin, pi


import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))
overlap = 0.2
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2 changes: 1 addition & 1 deletion figures/code/chapter7/pyvista/fig7_2c.py
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from spatialmath import SE3
from math import cos, sin, pi

import pvplus
from RVC3.tools import pvplus



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2 changes: 1 addition & 1 deletion figures/code/chapter7/pyvista/fig7_7b.py
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@@ -1,6 +1,6 @@
from roboticstoolbox import *
import pyvista as pv
import pvplus
from RVC3.tools import pvplus

plotter = pv.Plotter(polygon_smoothing=True, window_size=(2000,2000))

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2 changes: 1 addition & 1 deletion figures/code/chapter8/fig8_8a.py
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# from spatialmath import SE3
from spatialmath import base
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
import roboticstoolbox as rtb
from rvcprint import outfile

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2 changes: 1 addition & 1 deletion figures/code/chapter8/fig8_8b.py
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# from spatialmath import SE3
from spatialmath import base
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
import roboticstoolbox as rtb
from rvcprint import outfile

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2 changes: 1 addition & 1 deletion figures/code/chapter9/fig9_17.py
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# from spatialmath import SE3
from spatialmath import base
from math import cos, sin, pi
import pvplus
from RVC3.tools import pvplus
import roboticstoolbox as rtb
from rvcprint import outfile

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1 change: 1 addition & 0 deletions pyproject.toml
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Expand Up @@ -97,6 +97,7 @@ dependencies = [

pytorch = ["torch", "torchvision"]
dev = ["pre-commit", "nbstripout"]
figures = ["pyvista", "vtk", "pillow"]

[project.scripts]

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