feat: bring rvctool up to date with rtbtool/mvtbtool, add --test smoke test

README.md

@@ -53,6 +53,14 @@ conda install rvc3python
 There are a lot of dependencies and this might take a minute or so.  You now have a very
 powerful computing environment for robotics and computer vision.
 
+To check everything installed and works correctly, run
+```shell
+rvctool --test
+```
+This is a quick, non-interactive check that prints package versions and exercises one
+real code path per toolbox (RTB, MVTB, spatialgeometry, spatialmath, bdsim, and Open3D
+if installed), reporting PASS/FAIL for each rather than just "it imported".
+
 ### Python version
 
 `rvc3python` requires **Python 3.10 or later**.
@@ -129,13 +137,10 @@ for Python (RTB==1.3.1, MVTB==2.3.0, SG==1.3.0, SMTB==1.1.16, NumPy==2.5.2, SciP
     func/object??      - show source code
 
 Results of assignments will be displayed, use trailing ; to suppress
-
-Python 3.12.8 | packaged by conda-forge
-Type 'copyright', 'credits' or 'license' for more information
-IPython 9.16.1 -- An enhanced Interactive Python. Type '?' for help.
 
+Default numeric formatting: %.3g
 
->>> 
+>>>
 ```
 
 This provides an interactive Python

RVC3/bin/_bintools.py

@@ -0,0 +1,61 @@
+"""
+Shared helpers for RVC3 command-line tools.
+"""
+
+from __future__ import annotations
+
+import argparse
+import textwrap
+
+
+def link(uri: str, label: str | None = None) -> str:
+    """Return a terminal hyperlink escape sequence.
+
+    :param uri: target URL
+    :param label: display label, defaults to the URI itself
+    :return: OSC-8 hyperlink string
+    """
+    # https://stackoverflow.com/questions/40419276/python-how-to-print-text-to-console-as-hyperlink
+    if label is None:
+        label = uri
+    escape_mask = "\033]8;{};{}\033\\{}\033]8;;\033\\"
+    return escape_mask.format("", uri, label)
+
+
+class CustomHelpFormatter(argparse.HelpFormatter):
+    """Argparse formatter that wraps at word boundaries on explicit newlines."""
+
+    def _split_lines(self, text: str, width: int) -> list[str]:
+        lines = text.splitlines()
+        wrapped: list[str] = []
+        for line in lines:
+            wrapped.extend(
+                textwrap.wrap(
+                    line, width, break_long_words=False, break_on_hyphens=False
+                )
+            )
+        return wrapped
+
+
+class CustomDefaultsHelpFormatter(
+    CustomHelpFormatter, argparse.ArgumentDefaultsHelpFormatter
+):
+    """Custom formatter that also appends default values in help output."""
+
+
+class LineWrapRawTextHelpFormatter(argparse.RawDescriptionHelpFormatter):
+    """Argparse formatter that reflows whitespace and wraps at 80 columns."""
+
+    def _split_lines(self, text: str, width: int) -> list[str]:
+        text = self._whitespace_matcher.sub(" ", text).strip()
+        return textwrap.wrap(text, 80)
+
+
+class LineWrapRawTextDefaultsHelpFormatter(
+    LineWrapRawTextHelpFormatter, argparse.ArgumentDefaultsHelpFormatter
+):
+    """Line-wrapped formatter that also appends default values."""
+
+
+RVC3_URL = "https://github.com/petercorke/RVC3-python"
+RVC3_LINK = link(RVC3_URL, "Robotics, Vision & Control 3e: for Python")