add path to robot definitions and include in package

Author: StoneT2000

easyhec/__init__.py

@@ -1,3 +1,4 @@
+from pathlib import Path
 try:
     import sam2
 except ModuleNotFoundError:
@@ -7,4 +8,6 @@
     import nvdiffrast
 except ModuleNotFoundError:
     print("nvdiffrast is not installed. Please install it with pip install 'nvdiffrast @ git+https://github.com/NVlabs/nvdiffrast.git@729261dc64c4241ea36efda84fbf532cc8b425b8'")
-    exit(1)
+    exit(1)
+
+ROBOT_DEFINITIONS_DIR = Path(__file__).parent / "examples" / "real" / "robot_definitions"

easyhec/examples/real/so100.py

@@ -5,12 +5,8 @@
 from pathlib import Path
 from typing import Optional
 
-import cv2
-import gymnasium as gym
 import numpy as np
-import pyrealsense2 as rs
 import torch
-import trimesh
 import tyro
 from lerobot.cameras.realsense import RealSenseCamera
 from lerobot.cameras.realsense.configuration_realsense import \

setup.py

@@ -2,8 +2,9 @@
 
 setup(
     name="easyhec",
-    version="0.1.5",
+    version="0.1.6",
     packages=find_packages(),
+    package_data={"easyhec": ["examples/real/robot_definitions/**"]},
     author="Stone Tao",
     homepage="https://github.com/stonet2000/easyhec",
     description="EasyHec is a library for fast and automatic camera extrinsic calibration",
@@ -18,6 +19,7 @@
         "trimesh",
         "transforms3d",
         "matplotlib",
+        "urchin",
         # ninja is used by nvdiffrast
         "ninja>=1.11",
     ],