resolve-robotics-uri-py 0.1.0__tar.gz

resolve-robotics-uri-py-0.1.0/.github/workflows/ci.yml

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+name: CI Workflow
+
+on:
+  push:
+  pull_request:
+  schedule:
+  # * is a special character in YAML so you have to quote this string
+  # Execute a "nightly" build at 2 AM UTC
+  - cron:  '0 2 * * *'
+
+jobs:
+  build-with-conda-dependencies:
+    name: '[conda:${{ matrix.os }}]'
+    runs-on: ${{ matrix.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        build_type: [Release]
+        os: [ubuntu-22.04, macos-latest, windows-2019]
+
+    steps:
+    - uses: actions/checkout@v3
+
+    - name: Print used environment (no conda) [Conda]
+      shell: bash
+      run: |
+        env
+
+    - uses: mamba-org/setup-micromamba@v1
+      with:
+        environment-file: ci_env.yml
+
+    - name: Install the package
+      shell: bash -l {0}
+      run: python -m pip install --no-deps .
+
+    - name: Import the package
+      shell: bash -l {0}
+      run: python -c "import resolve_robotics_uri_py"
+    
+    - name: Run the Python tests
+      shell: bash -l {0}
+      run: pytest
+
+    # This test requires the conda-forge::icub-models,
+    # robotology::ergocub-software and
+    # robostack-staging::ros-humble-moveit-resources-panda-description
+    # conda packages, that are installed in ci_env.yml environment
+    - name: Check command line helper
+      shell: bash -l {0}
+      run: |
+        resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf
+        resolve-robotics-uri-py package://ergoCub/robots/ergoCubSN000/model.urdf
+        resolve-robotics-uri-py package://moveit_resources_panda_description/urdf/panda.urdf
+        ! resolve-robotics-uri-py package://this/file/does/not/exist

resolve-robotics-uri-py-0.1.0/.github/workflows/publish-to-pypi.yml

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

resolve-robotics-uri-py-0.1.0/.gitignore

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+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+*.py,cover
+.hypothesis/
+.pytest_cache/
+cover/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+db.sqlite3-journal
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+.pybuilder/
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+#   For a library or package, you might want to ignore these files since the code is
+#   intended to run in multiple environments; otherwise, check them in:
+# .python-version
+
+# pipenv
+#   According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control.
+#   However, in case of collaboration, if having platform-specific dependencies or dependencies
+#   having no cross-platform support, pipenv may install dependencies that don't work, or not
+#   install all needed dependencies.
+#Pipfile.lock
+
+# poetry
+#   Similar to Pipfile.lock, it is generally recommended to include poetry.lock in version control.
+#   This is especially recommended for binary packages to ensure reproducibility, and is more
+#   commonly ignored for libraries.
+#   https://python-poetry.org/docs/basic-usage/#commit-your-poetrylock-file-to-version-control
+#poetry.lock
+
+# pdm
+#   Similar to Pipfile.lock, it is generally recommended to include pdm.lock in version control.
+#pdm.lock
+#   pdm stores project-wide configurations in .pdm.toml, but it is recommended to not include it
+#   in version control.
+#   https://pdm.fming.dev/#use-with-ide
+.pdm.toml
+
+# PEP 582; used by e.g. github.com/David-OConnor/pyflow and github.com/pdm-project/pdm
+__pypackages__/
+
+# Celery stuff
+celerybeat-schedule
+celerybeat.pid
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# pytype static type analyzer
+.pytype/
+
+# Cython debug symbols
+cython_debug/
+
+# PyCharm
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

resolve-robotics-uri-py-0.1.0/LICENSE

@@ -0,0 +1,28 @@
+BSD 3-Clause License
+
+Copyright (c) 2023, Silvio Traversaro
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+3. Neither the name of the copyright holder nor the names of its
+   contributors may be used to endorse or promote products derived from
+   this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

resolve-robotics-uri-py-0.1.0/PKG-INFO

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+Metadata-Version: 2.1
+Name: resolve-robotics-uri-py
+Version: 0.1.0
+Summary: Pure python package to solve ROS-style package:// and Gazebo-style model:// URIs in absolute paths.
+Home-page: https://github.com/ami-iit/resolve-robotics-uri-py
+Author: Silvio Traversaro
+Author-email: silvio.traversaro@iit.it
+License: BSD
+Project-URL: Changelog, https://github.com/ami-iit/resolve-robotics-uri-py/releases
+Project-URL: Source, https://github.com/ami-iit/resolve-robotics-uri-py
+Project-URL: Tracker, https://github.com/ami-iit/resolve-robotics-uri-py/issues
+Platform: any
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: Microsoft
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Topic :: Software Development
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Provides-Extra: style
+Provides-Extra: testing
+Provides-Extra: all
+License-File: LICENSE
+
+# resolve-robotics-uri-py
+
+Pure Python package (that only depends on Python stdlib) to resolve a package:// (ROS-style) or model:// (Gazebo-style) URI to an absolute filename.
+
+## Installation
+
+Use the package manager [pip](https://pip.pypa.io/en/stable/) to install resolve-robotics-uri-py.
+
+```bash
+python -m pip install resolve-robotics-uri-py
+```
+
+## Usage in Python
+
+Add `import resolve_robotics_uri_py` to your Python file, then take inspiration from the following examples.
+
+If you want to get the location of the `iCubGazeboV2_7` iCub model installed from [`icub-models`](https://github.com/robotology/icub-models):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://iCub/robots/iCubGazeboV2_7/model.urdf")
+~~~
+
+If you want to get the location of the `ergoCubSN00`  model installed from [`ergocub-software`](https://github.com/icub-tech-iit/ergocub-software):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://ergoCub/robots/ergoCubSN000/model.urdf")
+~~~
+
+If you want to get the location of the `panda`  model installed by [`moveit_resources_panda_description`](https://index.ros.org/p/moveit_resources_panda_description/):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://moveit_resources_panda_description/urdf/panda.urdf")
+~~~
+
+
+## Command Line usage
+
+`resolve_robotics_uri_py` also install a command line tool called `resolve-robotics-uri-py` for use in scripts, that can be used as:
+
+~~~
+resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf
+~~~
+
+For example,  on bash this can be used to easily convert the a urdf specified via `package://` to an sdf (assuming you have Gazebo installed), using the [backtick operator](https://www.redhat.com/sysadmin/backtick-operator-vs-parens):
+~~~
+gz sdf -p `resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf`
+~~~
+
+## Contributing
+
+Pull requests are welcome. For major changes, please open an issue first
+to discuss what you would like to change.
+
+Please make sure to update tests as appropriate.
+
+## License
+
+[BSD-3-Clause](https://spdx.org/licenses/BSD-3-Clause.html)

resolve-robotics-uri-py-0.1.0/README.md

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+# resolve-robotics-uri-py
+
+Pure Python package (that only depends on Python stdlib) to resolve a package:// (ROS-style) or model:// (Gazebo-style) URI to an absolute filename.
+
+## Installation
+
+Use the package manager [pip](https://pip.pypa.io/en/stable/) to install resolve-robotics-uri-py.
+
+```bash
+python -m pip install resolve-robotics-uri-py
+```
+
+## Usage in Python
+
+Add `import resolve_robotics_uri_py` to your Python file, then take inspiration from the following examples.
+
+If you want to get the location of the `iCubGazeboV2_7` iCub model installed from [`icub-models`](https://github.com/robotology/icub-models):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://iCub/robots/iCubGazeboV2_7/model.urdf")
+~~~
+
+If you want to get the location of the `ergoCubSN00`  model installed from [`ergocub-software`](https://github.com/icub-tech-iit/ergocub-software):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://ergoCub/robots/ergoCubSN000/model.urdf")
+~~~
+
+If you want to get the location of the `panda`  model installed by [`moveit_resources_panda_description`](https://index.ros.org/p/moveit_resources_panda_description/):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://moveit_resources_panda_description/urdf/panda.urdf")
+~~~
+
+
+## Command Line usage
+
+`resolve_robotics_uri_py` also install a command line tool called `resolve-robotics-uri-py` for use in scripts, that can be used as:
+
+~~~
+resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf
+~~~
+
+For example,  on bash this can be used to easily convert the a urdf specified via `package://` to an sdf (assuming you have Gazebo installed), using the [backtick operator](https://www.redhat.com/sysadmin/backtick-operator-vs-parens):
+~~~
+gz sdf -p `resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf`
+~~~
+
+## Contributing
+
+Pull requests are welcome. For major changes, please open an issue first
+to discuss what you would like to change.
+
+Please make sure to update tests as appropriate.
+
+## License
+
+[BSD-3-Clause](https://spdx.org/licenses/BSD-3-Clause.html)

resolve-robotics-uri-py-0.1.0/ci_env.yml

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+name: testenv
+channels:
+  - conda-forge
+  - robotology
+  - robostack-staging
+dependencies:
+  - python
+  - pip
+  - pytest
+  # packages that ship URDFs used to test
+  - icub-models
+  - ergocub-software
+  - ros-humble-moveit-resources-panda-description

resolve-robotics-uri-py-0.1.0/pyproject.toml

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+[build-system]
+build-backend = "setuptools.build_meta"
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.2",
+]
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+
+[tool.black]
+line-length = 88
+
+[tool.isort]
+profile = "black"
+multi_line_output = 3

resolve-robotics-uri-py-0.1.0/setup.cfg

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+[metadata]
+name = resolve-robotics-uri-py
+description = Pure python package to solve ROS-style package:// and Gazebo-style model:// URIs in absolute paths.
+long_description = file: README.md
+long_description_content_type = text/markdown
+author = Silvio Traversaro
+author_email = silvio.traversaro@iit.it
+license = BSD
+license_files = LICENSE
+platforms = any
+url = https://github.com/ami-iit/resolve-robotics-uri-py
+project_urls = 
+	Changelog = https://github.com/ami-iit/resolve-robotics-uri-py/releases
+	Source = https://github.com/ami-iit/resolve-robotics-uri-py
+	Tracker = https://github.com/ami-iit/resolve-robotics-uri-py/issues
+keywords = 
+classifiers = 
+	Development Status :: 4 - Beta
+	Intended Audience :: Developers
+	License :: OSI Approved :: BSD License
+	Operating System :: POSIX :: Linux
+	Operating System :: MacOS
+	Operating System :: Microsoft
+	Programming Language :: Python :: 3.8
+	Programming Language :: Python :: 3.9
+	Programming Language :: Python :: 3.10
+	Programming Language :: Python :: 3.11
+	Programming Language :: Python :: 3 :: Only
+	Programming Language :: Python :: Implementation :: CPython
+	Topic :: Software Development
+
+[options]
+zip_safe = False
+packages = find:
+package_dir = 
+	=src
+python_requires = >=3.8
+install_requires = 
+
+[options.packages.find]
+where = src
+
+[options.entry_points]
+console_scripts = 
+	resolve-robotics-uri-py = resolve_robotics_uri_py.resolve_robotics_uri_py:main
+
+[options.extras_require]
+style = 
+	black
+	isort
+testing = 
+all = 
+	%(style)s
+	%(testing)s
+
+[tool:pytest]
+addopts = -rsxX -v --strict-markers
+testpaths = tests
+
+[egg_info]
+tag_build = 
+tag_date = 0
+

resolve-robotics-uri-py-0.1.0/setup.py

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+import setuptools
+
+setuptools.setup()

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py/__init__.py

@@ -0,0 +1 @@
+from .resolve_robotics_uri_py import resolve_robotics_uri

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py/resolve_robotics_uri_py.py

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+import argparse
+import os
+import pathlib
+import sys
+from typing import List
+import warnings
+
+# Function inspired from https://github.com/ami-iit/robot-log-visualizer/pull/51
+def get_search_paths_from_envs(env_list):
+    return [
+        pathlib.Path(f) if (env != "AMENT_PREFIX_PATH") else pathlib.Path(f) / "share"
+        for env in env_list if os.getenv(env) is not None
+        for f in os.getenv(env).split(os.pathsep)
+    ]
+
+def pathlist_list_to_string(path_list):
+    return ' '.join(str(path) for path in path_list)
+
+def resolve_robotics_uri(uri: str) -> pathlib.Path:
+    # List of environment variables to consider, see:
+    # * https://github.com/robotology/idyntree/issues/291
+    # * https://github.com/gazebosim/sdformat/issues/1234
+    # AMENT_PREFIX_PATH is the only "special" as we need to add
+    # "share" after each value, see https://github.com/stack-of-tasks/pinocchio/issues/1520
+    # This list specify the origin of each env variable:
+    # * GAZEBO_MODEL_PATH: Used in Gazebo Classic
+    # * ROS_PACKAGE_PATH: Used in ROS1
+    # * AMENT_PREFIX_PATH: Used in ROS2
+    # * SDF_PATH: Used in sdformat
+    # * IGN_GAZEBO_RESOURCE_PATH: Used in Ignition Gazebo <= 7
+    # * GZ_SIM_RESOURCE_PATH: Used in Gazebo Sim >= 7
+    env_list = ["GAZEBO_MODEL_PATH", "ROS_PACKAGE_PATH", "AMENT_PREFIX_PATH", "SDF_PATH", "IGN_GAZEBO_RESOURCE_PATH", "GZ_SIM_RESOURCE_PATH"]
+
+    # Preliminary step: if there is no scheme, we just consider this a path and we return it as it is
+    if "://" not in uri:
+        return pathlib.Path(uri)
+
+    # Get scheme from URI
+    from urllib.parse import urlparse
+    parsed_uri = urlparse(uri)
+
+    # We only support at the moment:
+    # file:// scheme: to pass a file path directly
+    # package:// : ROS-style package URI
+    # model:// : SDF-style model URI
+    if parsed_uri.scheme not in ["file", "package", "model"]:
+        raise FileNotFoundError(f"Passed URI \"{uri}\" use non-supported scheme {parsed_uri.scheme}")
+
+    model_filenames = []
+
+    if parsed_uri.scheme == "file":
+        model_filenames.append(uri.replace("file:/", ""))
+
+    if parsed_uri.scheme == "package" or parsed_uri.scheme == "model":
+        uri_path = uri.replace(f"{parsed_uri.scheme}://","")
+        for folder in get_search_paths_from_envs(env_list):
+            candidate_file_name = folder / pathlib.Path(uri_path)
+            if (candidate_file_name.is_file()):
+                if candidate_file_name not in model_filenames:
+                    model_filenames.append(candidate_file_name)
+
+    if model_filenames:
+        if (len(model_filenames) > 1):
+            warnings.warn(f"resolve-robotics-uri-py: Multiple files ({pathlist_list_to_string(model_filenames)}) found for uri \"{uri}\", returning the first one.")
+        return pathlib.Path(model_filenames[0])
+
+    # If no file was found raise error
+    raise FileNotFoundError(f"resolve-robotics-uri-py: No file corresponding to uri \"{uri}\" found")
+
+def main():
+    parser = argparse.ArgumentParser(description="Utility resolve a robotics URI (file://, model://, package://) to an absolute filename.")
+    parser.add_argument("uri", metavar="uri", type=str, help="URI to resolve")
+
+    args = parser.parse_args()
+    result = resolve_robotics_uri(args.uri)
+
+    print(result)
+    sys.exit(0)
+
+if __name__ == "__main__":
+    main()

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/PKG-INFO

@@ -0,0 +1,90 @@
+Metadata-Version: 2.1
+Name: resolve-robotics-uri-py
+Version: 0.1.0
+Summary: Pure python package to solve ROS-style package:// and Gazebo-style model:// URIs in absolute paths.
+Home-page: https://github.com/ami-iit/resolve-robotics-uri-py
+Author: Silvio Traversaro
+Author-email: silvio.traversaro@iit.it
+License: BSD
+Project-URL: Changelog, https://github.com/ami-iit/resolve-robotics-uri-py/releases
+Project-URL: Source, https://github.com/ami-iit/resolve-robotics-uri-py
+Project-URL: Tracker, https://github.com/ami-iit/resolve-robotics-uri-py/issues
+Platform: any
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: BSD License
+Classifier: Operating System :: POSIX :: Linux
+Classifier: Operating System :: MacOS
+Classifier: Operating System :: Microsoft
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: Programming Language :: Python :: Implementation :: CPython
+Classifier: Topic :: Software Development
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+Provides-Extra: style
+Provides-Extra: testing
+Provides-Extra: all
+License-File: LICENSE
+
+# resolve-robotics-uri-py
+
+Pure Python package (that only depends on Python stdlib) to resolve a package:// (ROS-style) or model:// (Gazebo-style) URI to an absolute filename.
+
+## Installation
+
+Use the package manager [pip](https://pip.pypa.io/en/stable/) to install resolve-robotics-uri-py.
+
+```bash
+python -m pip install resolve-robotics-uri-py
+```
+
+## Usage in Python
+
+Add `import resolve_robotics_uri_py` to your Python file, then take inspiration from the following examples.
+
+If you want to get the location of the `iCubGazeboV2_7` iCub model installed from [`icub-models`](https://github.com/robotology/icub-models):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://iCub/robots/iCubGazeboV2_7/model.urdf")
+~~~
+
+If you want to get the location of the `ergoCubSN00`  model installed from [`ergocub-software`](https://github.com/icub-tech-iit/ergocub-software):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://ergoCub/robots/ergoCubSN000/model.urdf")
+~~~
+
+If you want to get the location of the `panda`  model installed by [`moveit_resources_panda_description`](https://index.ros.org/p/moveit_resources_panda_description/):
+
+~~~python
+absolute_path = resolve_robotics_uri_py.resolve_robotics_uri("package://moveit_resources_panda_description/urdf/panda.urdf")
+~~~
+
+
+## Command Line usage
+
+`resolve_robotics_uri_py` also install a command line tool called `resolve-robotics-uri-py` for use in scripts, that can be used as:
+
+~~~
+resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf
+~~~
+
+For example,  on bash this can be used to easily convert the a urdf specified via `package://` to an sdf (assuming you have Gazebo installed), using the [backtick operator](https://www.redhat.com/sysadmin/backtick-operator-vs-parens):
+~~~
+gz sdf -p `resolve-robotics-uri-py package://iCub/robots/iCubGazeboV2_7/model.urdf`
+~~~
+
+## Contributing
+
+Pull requests are welcome. For major changes, please open an issue first
+to discuss what you would like to change.
+
+Please make sure to update tests as appropriate.
+
+## License
+
+[BSD-3-Clause](https://spdx.org/licenses/BSD-3-Clause.html)

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/SOURCES.txt

@@ -0,0 +1,19 @@
+.gitignore
+LICENSE
+README.md
+ci_env.yml
+pyproject.toml
+setup.cfg
+setup.py
+.github/workflows/ci.yml
+.github/workflows/publish-to-pypi.yml
+src/resolve_robotics_uri_py/__init__.py
+src/resolve_robotics_uri_py/resolve_robotics_uri_py.py
+src/resolve_robotics_uri_py.egg-info/PKG-INFO
+src/resolve_robotics_uri_py.egg-info/SOURCES.txt
+src/resolve_robotics_uri_py.egg-info/dependency_links.txt
+src/resolve_robotics_uri_py.egg-info/entry_points.txt
+src/resolve_robotics_uri_py.egg-info/not-zip-safe
+src/resolve_robotics_uri_py.egg-info/requires.txt
+src/resolve_robotics_uri_py.egg-info/top_level.txt
+test/test_resolve_robotics_uri_py.py

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/dependency_links.txt

@@ -0,0 +1 @@
+

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/entry_points.txt

@@ -0,0 +1,2 @@
+[console_scripts]
+resolve-robotics-uri-py = resolve_robotics_uri_py.resolve_robotics_uri_py:main

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/not-zip-safe

@@ -0,0 +1 @@
+

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/requires.txt

@@ -0,0 +1,10 @@
+
+[all]
+black
+isort
+
+[style]
+black
+isort
+
+[testing]

resolve-robotics-uri-py-0.1.0/src/resolve_robotics_uri_py.egg-info/top_level.txt

@@ -0,0 +1 @@
+resolve_robotics_uri_py

resolve-robotics-uri-py-0.1.0/test/test_resolve_robotics_uri_py.py

@@ -0,0 +1,6 @@
+import resolve_robotics_uri_py
+import pytest
+
+def test_non_existing_file():
+    with pytest.raises(FileNotFoundError):
+        resolve_robotics_uri_py.resolve_robotics_uri("package://this/package/and/file/does/not.exist")