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Merge pull request #36 from afishman-openai/main
Typing and Splitting Files for Readability
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‎.github/workflows/ci.yml‎

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name: CI
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on:
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push:
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branches: [ main, master ]
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pull_request:
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branches: [ "**" ]
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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matrix:
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python-version: ["3.9", "3.10", "3.11", "3.12"]
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steps:
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- name: Checkout
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uses: actions/checkout@v4
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v5
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install dependencies
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run: |
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python -m pip install --upgrade pip
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pip install -r requirements.txt
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pip install .[dev]
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pip install mypy==1.18.2 ruff==0.14.1
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- name: Ruff Lint
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run: |
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ruff check .
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ruff format --check .
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- name: Mypy
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run: |
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mypy urchin
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- name: Pytest
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run: |
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pytest -q

‎.github/workflows/publish-to-pypi.yml‎

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name: Publish Python 🐍 distributions 📦 to PyPI
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on: push
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on:
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push:
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tags:
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- "*" # Only run on tag pushes
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jobs:
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build-n-publish:
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name: Build and publish Python 🐍 distributions 📦 to PyPI
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if: github.repository == 'fishbotics/urchin'
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runs-on: ubuntu-latest
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python
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uses: actions/setup-python@v4
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with:
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python-version: "3.x"
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- name: Install pypa/build
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run: >-
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python -m
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pip install
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build
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--user
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- name: Build a binary wheel and a source tarball
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run: >-
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python -m
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build
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--sdist
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--wheel
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--outdir dist/
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.
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- uses: actions/checkout@v3
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- name: Set up Python
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uses: actions/setup-python@v4
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with:
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python-version: "3.x"
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- name: Install pypa/build
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run: python -m pip install build --user
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- name: Build a binary wheel and a source tarball
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run: python -m build --sdist --wheel --outdir dist/
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- name: Publish distribution 📦 to PyPI
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if: startsWith(github.ref, 'refs/tags')
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uses: pypa/gh-action-pypi-publish@release/v1
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with:
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password: ${{ secrets.PYPI_API_TOKEN }}
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- name: Publish distribution 📦 to PyPI
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uses: pypa/gh-action-pypi-publish@release/v1
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with:
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password: ${{ secrets.PYPI_API_TOKEN }}

‎.github/workflows/test.yml‎

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push:
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pull_request:
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schedule:
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# * is a special character in YAML so you have to quote this string
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# Execute a "weekly" build at 0 AM UTC on Mondays
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- cron: '0 0 * * MON'
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# * is a special character in YAML so you have to quote this string
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# Execute a "weekly" build at 0 AM UTC on Mondays
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- cron: "0 0 * * MON"
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jobs:
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build:
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runs-on: ubuntu-latest
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strategy:
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fail-fast: false
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matrix:
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python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]
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steps:
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- uses: actions/checkout@v3
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install package
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run: |
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python -m pip install --upgrade pip
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python -m pip install flake8 pytest pytest-cov coveralls wheel
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python -m pip install .
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- uses: actions/checkout@v3
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- name: Set up Python ${{ matrix.python-version }}
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uses: actions/setup-python@v3
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with:
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python-version: ${{ matrix.python-version }}
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- name: Install package
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run: |
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python -m pip install --upgrade pip
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python -m pip install flake8 pytest pytest-cov coveralls wheel
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python -m pip install .
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- name: Test with pytest
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run: |
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pytest --cov=urchin tests
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- name: Test with pytest
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run: |
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pytest --cov=urchin tests

‎.pre-commit-config.yaml‎

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repos:
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- repo: https://gitlab.com/pycqa/flake8
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rev: 3.7.1
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hooks:
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- id: flake8
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exclude: ^setup.py
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- repo: https://gitlab.com/pycqa/flake8
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rev: 3.7.1
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hooks:
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- id: flake8
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exclude: ^setup.py
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- repo: https://github.com/astral-sh/ruff-pre-commit
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rev: v0.14.1
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hooks:
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- id: ruff
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name: ruff (lint + isort)
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args: ["--fix"]
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- id: ruff-format
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name: ruff (format)
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- repo: https://github.com/pre-commit/mirrors-mypy
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rev: v1.18.2
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hooks:
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- id: mypy
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name: mypy
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args: ["--config=pyproject.toml", "urchin"]
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- repo: local
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hooks:
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- id: pytest
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name: pytest
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entry: pytest -q
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language: system
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pass_filenames: false

‎docs/source/conf.py‎

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# List of patterns, relative to source directory, that match files and
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# directories to ignore when looking for source files.
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# This pattern also affects html_static_path and html_extra_path.
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exclude_patterns = []
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exclude_patterns: list[str] = []
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# The name of the Pygments (syntax highlighting) style to use.
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pygments_style = None
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# -- Options for LaTeX output ------------------------------------------------
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latex_elements = {
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latex_elements: dict[str, str] = {
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# The paper size ('letterpaper' or 'a4paper').
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#
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# 'papersize': 'letterpaper',
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def find_obj(self, env, modname, classname, name, type, searchmode=0):
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"""Ensures an object always resolves to the desired module
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if defined there."""
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orig_matches = PythonDomain.find_obj(
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self, env, modname, classname, name, type, searchmode
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)
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orig_matches = PythonDomain.find_obj(self, env, modname, classname, name, type, searchmode)
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if len(orig_matches) <= 1:
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return orig_matches

‎pyproject.toml‎

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[build-system]
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requires = ["setuptools>=61.0", "wheel"]
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build-backend = "setuptools.build_meta"
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[project]
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name = "urchin"
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version = "0.0.30"
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requires-python = ">=3.9"
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description = "URDF parser and manipulator for Python"
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readme = { text = "URDF parser and manipulator for Python. This package is a fork of urdfpy, which seems to be no longer maintained.", content-type = "text/plain" }
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authors = [
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{ name = "Adam Fishman", email = "hello@fishbotics.com" }
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]
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license = { text = "MIT License" }
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urls = { "Homepage" = "https://github.com/fishbotics/urchin" }
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keywords = ["robotics", "ros", "urdf", "robots", "parser"]
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classifiers = [
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"Development Status :: 4 - Beta",
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"License :: OSI Approved :: MIT License",
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"Programming Language :: Python",
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"Programming Language :: Python :: 3.9",
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"Programming Language :: Python :: 3.10",
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"Programming Language :: Python :: 3.11",
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"Programming Language :: Python :: 3.12",
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"Natural Language :: English",
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"Topic :: Scientific/Engineering"
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]
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dependencies = [
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"lxml", # For XML DOM Tree
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"networkx", # For joint graph
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"numpy>=1.20", # Numpy
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"pillow", # For texture image loading
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"pycollada>=0.6", # COLLADA (.dae) mesh loading via trimesh
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"pyribbit>=0.1.46", # For visualization
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"scipy", # For trimesh, annoyingly
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"trimesh" # Mesh geometry loading/creation/saving
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]
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[project.optional-dependencies]
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dev = [
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"flake8", # Code formatting checker
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"pre-commit", # Pre-commit hooks
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"pytest", # Code testing
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"pytest-cov", # Coverage testing
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"tox" # Automatic virtualenv testing
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]
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docs = [
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"sphinx", # General doc library
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"sphinx_rtd_theme", # RTD theme for sphinx
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"sphinx-automodapi" # For generating nice tables
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]
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[tool.mypy]
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python_version = "3.10"
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strict = false
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warn_unused_ignores = true
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[[tool.mypy.overrides]]
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module = ["lxml.*", "trimesh.*", "networkx.*", "PIL.*", "pyribbit.*", "sphinx.*", "sphinx_rtd_theme"]
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ignore_missing_imports = true
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[tool.ruff]
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line-length = 100
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target-version = "py310"
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[tool.ruff.lint]
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select = ["E", "F", "I"]
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fixable = ["ALL"]
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[tool.ruff.format]
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quote-style = "double"
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indent-style = "space"
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docstring-code-format = true

‎scripts/vis_urdf.py‎

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Script for visualizing a robot from a URDF.
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Author: Matthew Matl
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"""
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import argparse
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import urchin
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if __name__ == "__main__":
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# Parse Args
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parser = argparse.ArgumentParser(description="Visualize a robot from a URDF file")
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parser.add_argument(
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"urdf", type=str, help="Path to URDF file that describes the robot"
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)
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parser.add_argument("urdf", type=str, help="Path to URDF file that describes the robot")
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parser.add_argument("-a", action="store_true", help="Visualize robot articulation")
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parser.add_argument("-c", action="store_true", help="Use collision geometry")
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‎setup.py‎

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