fix: remove vendored spatialgeometry, restore real dependency

pyproject.toml

@@ -14,6 +14,10 @@ authors = [
 dependencies = [
     "numpy",
     "spatialmath-python>=1.1.16",
+    # Pinned to a commit on SG's unreleased main (1.4 draft) -- Link.py's
+    # SceneGroup(initlist) call requires the API there. Switch to a normal
+    # ">=1.4.0" constraint once spatialgeometry actually cuts that release.
+    "spatialgeometry @ git+https://github.com/jhavl/spatialgeometry.git@ce69b8bbe23ec79c0c395e007725512081808487",
     "pgraph-python",
     "scipy",
     "matplotlib",
@@ -128,10 +132,9 @@ build-backend = "scikit_build_core.build"
 
 
 [tool.scikit-build]
-wheel.packages = ["src/roboticstoolbox", "src/spatialgeometry"]
+wheel.packages = ["src/roboticstoolbox"]
 sdist.include = [
     "src/roboticstoolbox",
-    "src/spatialgeometry",
     "tests",
     "CMakeLists.txt",
     "README.md",

src/roboticstoolbox/bin/rtbtool.py

@@ -16,7 +16,7 @@
 from traitlets.config import Config
 import IPython
 import argparse
-from pathlib import Path
+import pathlib
 import shlex
 import sys
 import os
@@ -213,7 +213,7 @@ def make_banner():
 
 def examples_path():
     # Repository layout: <root>/src/roboticstoolbox/bin/rtbtool.py
-    return Path(__file__).resolve().parents[3] / "examples"
+    return pathlib.Path(__file__).resolve().parents[3] / "examples"
 
 
 def startup():
@@ -310,7 +310,7 @@ def out_prompt_tokens(self, cli=None):
     # set up a script to be executed by IPython when we get there
     code = None
     if args.script is not None:
-        path = Path(args.script)
+        path = pathlib.Path(args.script)
         if not path.exists():
             raise ValueError(f"script does not exist: {args.script}")
         code = path.open("r").readlines()

src/roboticstoolbox/robot/Link.py

@@ -164,11 +164,11 @@ def __init__(
             self._name = name
 
         # Link geometry
-        self._geometry = SceneGroup(scene_children=geometry)
+        self._geometry = SceneGroup(geometry)
         self._scene_children.append(self._geometry)
 
         # Collision Geometry
-        self._collision = SceneGroup(scene_children=collision)
+        self._collision = SceneGroup(collision)
         self._scene_children.append(self._collision)
 
         # Link dynamic Parameters