Merge pull request #17 from open-dynamic-robot-initiative/fkloss/py

Convert to Python package

.github/workflows/test.yml

@@ -0,0 +1,26 @@
+# Install package via pip and run tests
+name: Tests (pip install)
+
+on:
+  push:
+    branches:
+      - master
+  pull_request:
+
+jobs:
+  pytest:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - uses: actions/setup-python@v5
+        with:
+          python-version: '3.10'
+      - name: Update pip
+        run: |
+          python -m pip install --upgrade pip
+      - name: Install package
+        run: |
+          python -m pip install ".[test]"
+      - name: Run tests
+        run: |
+          python -m pytest

.gitignore

@@ -1,3 +1,4 @@
 *.pyc
-urdf/*
-.DS_Store
+build/
+*.egg-info
+.DS_Store

CHANGELOG.md

@@ -2,6 +2,14 @@
 
 ## [Unreleased]
 
+### Changed
+- Converted to pure Python package.  You can still use the package in a colcon workspace
+  as before, but it is now also possible to install it with pip.
+- **BREAKING:** Model files are not installed to `share/` anymore.  Instead they are
+  installed as package data inside the Python package.  This allows to get the
+  path to the installed files in the same way with both a colcon-based and a pip-based
+  installation.
+
 ### Added
 - Python package with function `get_urdf_base_path()`
 - Moved Pinocchio-based `Kinematics` class from trifinger_simulation to this package.

doc/installation.rst

@@ -5,3 +5,12 @@ Installation
 The ``robot_properties_fingers`` package is part of the TriFinger software
 bundle.  See :ref:`trifinger_docs:install_software` in the TriFinger
 documentation.
+
+
+Alternatively, it can also be installed with standard Python tools, e.g.:
+
+.. code-block:: bash
+
+   git clone https://github.com/open-dynamic-robot-initiative/robot_properties_fingers.git
+   cd robot_properties_fingers
+   pip install .

package.xml

@@ -1,21 +1,20 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
     <name>robot_properties_fingers</name>
-    <version>1.1.0</version>
+    <version>1.2.0</version>
     <description>Xacro files and meshes of the (Tri-)Finger robots.</description>
     <maintainer email="[email protected]">Felix Widmaier</maintainer>
-    <license>BSD 3-clause</license>
-
-    <buildtool_depend>ament_cmake</buildtool_depend>
+    <license>BSD-3-Clause</license>
 
     <!-- We need the xacro package to build the urdf model -->
     <build_depend>xacro</build_depend>
 
     <exec_depend>pinocchio</exec_depend>
 
-    <test_depend>ament_cmake_pytest</test_depend>
+    <test_depend>python3-pytest</test_depend>
 
     <export>
-        <build_type>ament_cmake</build_type>
+        <build_type>ament_python</build_type>
     </export>
 </package>

pyproject.toml

@@ -1,3 +1,8 @@
+[build-system]
+requires = ["setuptools", "xacro"]
+build-backend = "setuptools.build_meta"
+
+
 [tool.pylint.messages_control]
 disable = "C0330, C0326"
 
@@ -7,9 +12,10 @@ exclude = "doc/"
 [[tool.mypy.overrides]]
 # list all modules for which no type hints are available
 module = [
-    "ament_index_python.*",
+    "xacro",
     "pinocchio",
     "pytest",
+    "setuptools.*",
 ]
 ignore_missing_imports = true
 
@@ -54,3 +60,14 @@ convention = "google"
 "__init__.py" = ["F401"]  # unused imports
 "tests/*" = ["D", "ANN", "PLR2004"]
 "scripts/*" = ["D"]
+
+
+[tool.pytest.ini_options]
+# Explicitly specifying the test directory here is needed for `colcon test`, otherwise
+# it insists on importing robot_properties_fingers from the source directory for some
+# reason (which fails as URDF files only exist in the install space).
+# See https://robotics.stackexchange.com/q/112352/16508
+testpaths = "tests"
+addopts = [
+    "--import-mode=importlib",
+]

setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/robot_properties_fingers
+[install]
+install_scripts=$base/lib/robot_properties_fingers

setup.py

@@ -0,0 +1,72 @@
+"""Setup script for the robot_properties_fingers package."""
+
+import pathlib
+from os import path
+
+from setuptools import find_packages, setup
+from setuptools.command.build_py import build_py
+
+import xacro
+
+package_name = "robot_properties_fingers"
+
+
+class CustomBuildCommand(build_py):
+    """Custom build command to process xacro files."""
+
+    def run(self) -> None:
+        """Run the build command."""
+        # Call the original build_py command
+        build_py.run(self)
+
+        # Define the paths
+        xacro_dir = pathlib.Path("xacro_files")
+        urdf_dir = pathlib.Path(self.build_lib) / package_name / "urdf"
+
+        # Process each xacro file
+        for xacro_file in xacro_dir.glob("**/*.xacro"):
+            relative_urdf_path = xacro_file.relative_to(xacro_dir).with_suffix("")
+            urdf_file = urdf_dir / relative_urdf_path
+
+            # ensure output directory exists
+            urdf_file.parent.mkdir(parents=True, exist_ok=True)
+
+            # Use xacro API to process the file
+            doc = xacro.process_file(str(xacro_file))
+            urdf_content = doc.toprettyxml(indent="  ")
+            urdf_file.write_text(urdf_content)
+
+
+setup(
+    name=package_name,
+    version="1.2.0",
+    packages=find_packages(where="src"),
+    package_dir={"": "src"},
+    package_data={"robot_properties_fingers": ["meshes/*.stl", "meshes/**/*.stl"]},
+    data_files=[
+        (
+            "share/ament_index/resource_index/packages",
+            [path.join("resource", package_name)],
+        ),
+        (
+            path.join("share", package_name),
+            ["package.xml"],
+        ),
+    ],
+    install_requires=[
+        "setuptools",
+        "xacro",
+        "pin",  # pinocchio
+    ],
+    extras_require={"test": ["pytest"]},
+    zip_safe=True,
+    maintainer="Felix Kloss",
+    maintainer_email="[email protected]",
+    description="Xacro files and meshes of the (Tri-)Finger robots.",
+    license="BSD-3-Clause",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [],
+    },
+    cmdclass={"build_py": CustomBuildCommand},
+)

robot_properties_fingers/__init__.py → src/robot_properties_fingers/__init__.py

@@ -2,8 +2,6 @@
 
 import pathlib
 
-from ament_index_python.packages import get_package_share_directory
-
 from .pinocchio_utils import Kinematics
 
 
@@ -17,22 +15,22 @@ def get_urdf_base_path(robot_type: str) -> pathlib.Path:
          urdf_path = get_urdf_base_path("pro") / "trifingerpro.urdf"
 
     Args:
-        robot_type: Type of the robot.  One of {"pro", "edu", "one"}.
+        robot_type: Type of the robot.  One of {"pro", "edu", "one", "_root_"}.
+            "_root_" is a special type that returns the root directory containing all
+            the URDF files.
 
     Returns:
         Path to the directory containing the URDF files of the specified robot type.
     """
-    ROBOT_TYPES = ("pro", "edu", "one")
+    ROBOT_TYPES = ("pro", "edu", "one", "_root_")
     if robot_type not in ROBOT_TYPES:
         raise ValueError(
             f"Invalid robot type {robot_type}.  Valid types are {ROBOT_TYPES}."
         )
 
-    base_dir = (
-        pathlib.Path(get_package_share_directory("robot_properties_fingers")) / "urdf"
-    )
+    base_dir = pathlib.Path(__file__).parent / "urdf"
 
-    if robot_type == "one":
+    if robot_type in ("_root_", "one"):
         return base_dir
     return base_dir / robot_type
 

tests/test_init.py

@@ -6,6 +6,9 @@
 def test_get_urdf_base_path() -> None:
     # verify paths by checking for existence of one of the expected URDF files
 
+    root = get_urdf_base_path("_root_")
+    assert (root / "pro").is_dir()
+
     one = get_urdf_base_path("one")
     assert (one / "finger.urdf").is_file()