chore(typing): remove the 14 bare type: ignore comments

src/roboticstoolbox/ets/ETS2.py

@@ -338,7 +338,7 @@ def eval(
             # append
             if l > 1:
                 T[k, :, :] = Tk
-                # ret.append(SE2(Tk, check=False))  # type: ignore
+                # ret.append(SE2(Tk, check=False))
             else:
                 T = Tk
                 # ret = SE2(Tk, check=False)

src/roboticstoolbox/models/DH/TwoLink.py

@@ -73,12 +73,12 @@ def __init__(
 
             zero = sym.zero()
             pi = sym.pi()
-            a1, a2 = sym.symbol("a1 a2")  # link lengths # type: ignore
-            m1, m2 = sym.symbol("m1 m2")  # link masses # type: ignore
-            c1, c2 = sym.symbol("c1 c2")  # link CoMs location relative to link frames# type: ignore
+            a1, a2 = sym.symbol("a1 a2")  # link lengths
+            m1, m2 = sym.symbol("m1 m2")  # link masses
+            c1, c2 = sym.symbol("c1 c2")  # link CoMs location relative to link frames
             if inertia:
-                r = sym.symbol("r") # link radius, assumed tubular, for inertia calculation # type: ignore
-                I1, I2 = _cylinder_inertia_x(m1, r, a1), _cylinder_inertia_x(m2, r, a2)  # moments of inertia about CoM # type: ignore
+                r = sym.symbol("r") # link radius, assumed tubular, for inertia calculation
+                I1, I2 = _cylinder_inertia_x(m1, r, a1), _cylinder_inertia_x(m2, r, a2)  # moments of inertia about CoM
             else:
                 I1, I2 = None, None
             g = sym.symbol("g")
@@ -98,7 +98,7 @@ def __init__(
                 c2 = 0.5 # CoM location of second link relative to second link frame
                 r = 0.1 # radius of links, assumed tubular, for inertia calculation
                 if inertia:
-                    I1, I2 = _cylinder_inertia_x(m1, r, a1), _cylinder_inertia_x(m2, r, a2)  # moments of inertia about CoM # type: ignore
+                    I1, I2 = _cylinder_inertia_x(m1, r, a1), _cylinder_inertia_x(m2, r, a2)  # moments of inertia about CoM
                 else:
                     I1, I2 = None, None
                 g = 9.8
@@ -120,7 +120,7 @@ def __init__(
                 c2 = -0.5 # CoM location of second link relative to second link frame
                 r = 0.1 # radius of links, assumed tubular, for inertia calculation
                 if inertia:
-                    I1, I2 = _cylinder_inertia_x(m1, r, a1), _cylinder_inertia_x(m2, r, a2)  # moments of inertia about CoM # type: ignore
+                    I1, I2 = _cylinder_inertia_x(m1, r, a1), _cylinder_inertia_x(m2, r, a2)  # moments of inertia about CoM
                 else:
                     I1, I2 = None, None
                 g = 9.8

src/roboticstoolbox/robot/BaseRobot.py

@@ -1937,15 +1937,16 @@ def recurse(link: Link) -> Any:
             segs = [link.parent]
             while True:
                 segs.append(link)
-                if link.nchildren == 0:
+                children = link.children or []
+                if len(children) == 0:
                     return [segs]
-                elif link.nchildren == 1:
-                    link = link.children[0]  # type: ignore
+                elif len(children) == 1:
+                    link = children[0]
                     continue
-                elif link.nchildren > 1:
+                elif len(children) > 1:
                     segs = [segs]  # type: ignore[list-item]
 
-                    for child in link.children:  # type: ignore
+                    for child in children:
                         segs.extend(recurse(child))
 
                     return segs

src/roboticstoolbox/robot/Link.py

@@ -721,14 +721,15 @@ def I(self) -> NDArray:
     @I.setter
     @_dirties_frne
     def I(self, I_new: ArrayLike) -> None:
+        I_new = np.asarray(I_new)
         if ismatrix(I_new, (3, 3)):
             # 3x3 matrix passed
-            if np.any(np.abs(I_new - I_new.T) > 1e-8):  # type: ignore
+            if np.any(np.abs(I_new - I_new.T) > 1e-8):
                 raise ValueError("3x3 matrix is not symmetric")
 
         elif isvector(I_new, 9):
             # 3x3 matrix passed as a 1d vector
-            I_new = I_new.reshape(3, 3)  # type: ignore
+            I_new = I_new.reshape(3, 3)
             if np.any(np.abs(I_new - I_new.T) > 1e-8):
                 raise ValueError("3x3 matrix is not symmetric")
 
@@ -1100,7 +1101,13 @@ def closest_point(
         """
 
         if not skip:
-            self.robot._update_link_tf(self.robot.q)  # type: ignore
+            robot = self.robot
+            if robot is None:
+                raise ValueError(
+                    "the link does not belong to a robot, use skip=True to use "
+                    "its current transform"
+                )
+            robot._update_link_tf(robot.q)
             self.update()
             shape.update()
 
@@ -1133,7 +1140,13 @@ def iscollided(self, shape: Shape, skip: bool = False) -> bool:
         """
 
         if not skip:
-            self.robot._update_link_tf(self.robot.q)  # type: ignore
+            robot = self.robot
+            if robot is None:
+                raise ValueError(
+                    "the link does not belong to a robot, use skip=True to use "
+                    "its current transform"
+                )
+            robot._update_link_tf(robot.q)
             self.update()
             shape.update()
 

tests/test_ELink.py

@@ -110,6 +110,31 @@ def test_I(self):
         nt.assert_array_almost_equal(l1.I, I1)
         nt.assert_array_almost_equal(l2.I, I2)
 
+    def test_I_from_lists(self):
+        # a 3x3 matrix, and a 9-vector, given as lists rather than arrays
+        I0 = np.array([[1, 0, 0], [0, 2, 0], [0, 0, 3]])
+
+        l0 = rtb.Link(I=[[1, 0, 0], [0, 2, 0], [0, 0, 3]])
+        l1 = rtb.Link(I=[1, 0, 0, 0, 2, 0, 0, 0, 3])
+
+        nt.assert_array_almost_equal(l0.I, I0)
+        nt.assert_array_almost_equal(l1.I, I0)
+
+        with self.assertRaises(ValueError):
+            rtb.Link(I=[[1, 2, 0], [0, 2, 0], [0, 0, 3]])  # not symmetric
+
+    @skip_no_collision_checking
+    def test_collision_checks_need_a_robot(self):
+        # a link that is not part of a robot cannot update its transform
+        link = rtb.Link()
+        shape = gm.Cuboid([1, 1, 1])
+
+        with self.assertRaises(ValueError):
+            link.iscollided(shape)
+
+        with self.assertRaises(ValueError):
+            link.closest_point(shape)
+
     def test_friction(self):
         l0 = rtb.Link(Tc=[2, -1], B=3, G=2)