rod 0.3.1.dev7__tar.gz → 0.3.2.dev4__tar.gz

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: rod
-Version: 0.3.1.dev7
+Version: 0.3.2.dev4
 Summary: The ultimate Python tool for RObot Descriptions processing.
 Home-page: https://github.com/ami-iit/rod
 Author: Diego Ferigo

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/builder/primitive_builder.py

@@ -2,7 +2,6 @@ from __future__ import annotations
 
 import abc
 import dataclasses
-from typing import Optional
 
 import numpy as np
 import numpy.typing as npt
@@ -272,7 +271,7 @@ class PrimitiveBuilder(abc.ABC):
 
     def _collision(
         self,
-        name: Optional[str],
+        name: str | None,
         pose: rod.Pose | None = None,
     ) -> rod.Collision:
         name = name if name is not None else f"{self.name}_collision"
@@ -294,11 +293,11 @@ class PrimitiveBuilder(abc.ABC):
 
     @staticmethod
     def build_pose(
-        pos: npt.NDArray = None,
-        rpy: npt.NDArray = None,
-        relative_to: str = None,
-        degrees: bool = None,
-        rotation_format: str = None,
+        pos: npt.NDArray | None = None,
+        rpy: npt.NDArray | None = None,
+        relative_to: str | None = None,
+        degrees: bool | None = None,
+        rotation_format: str | None = None,
     ) -> rod.Pose | None:
         if pos is None and rpy is None:
             return rod.Pose.from_transform(transform=np.eye(4), relative_to=relative_to)

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/kinematics/kinematic_tree.py

@@ -3,7 +3,7 @@ from __future__ import annotations
 import copy
 import dataclasses
 import functools
-from typing import Dict, List, Sequence, Tuple
+from typing import Sequence
 
 import numpy as np
 
@@ -16,8 +16,8 @@ from rod.tree import DirectedTree, DirectedTreeNode, TreeEdge, TreeFrame
 class KinematicTree(DirectedTree):
     model: rod.Model
 
-    joints: List[TreeEdge] = dataclasses.field(default_factory=list)
-    frames: List[TreeFrame] = dataclasses.field(default_factory=list)
+    joints: list[TreeEdge] = dataclasses.field(default_factory=list)
+    frames: list[TreeFrame] = dataclasses.field(default_factory=list)
 
     def __post_init__(self):
         # Initialize base class
@@ -38,13 +38,13 @@ class KinematicTree(DirectedTree):
         self.joints.sort(key=lambda j: j.index)
         self.frames.sort(key=lambda f: f.index)
 
-    def link_names(self) -> List[str]:
+    def link_names(self) -> list[str]:
         return [node.name() for node in self]
 
-    def frame_names(self) -> List[str]:
+    def frame_names(self) -> list[str]:
         return [frame.name() for frame in self.frames]
 
-    def joint_names(self) -> List[str]:
+    def joint_names(self) -> list[str]:
         return [joint.name() for joint in self.joints]
 
     @staticmethod
@@ -73,7 +73,7 @@ class KinematicTree(DirectedTree):
 
         # In our tree, links are the nodes and joints the edges.
         # Create a dict mapping link names to tree nodes, for easy retrieval.
-        nodes_links_dict: Dict[str, DirectedTreeNode] = {
+        nodes_links_dict: dict[str, DirectedTreeNode] = {
             # Add one node for each link of the model
             **{link.name: DirectedTreeNode(_source=link) for link in model.links()},
             # Add special world node, that will become a frame later
@@ -101,7 +101,7 @@ class KinematicTree(DirectedTree):
         # Furthermore, existing frames are extra elements that could be optionally
         # attached to the kinematic tree (but by default they're not part of it).
         # Create a dict mapping frame names to frame nodes, for easy retrieval.
-        nodes_frames_dict: Dict[str, TreeFrame] = {
+        nodes_frames_dict: dict[str, TreeFrame] = {
             # Add a frame node for each frame in the model
             **{frame.name: TreeFrame(_source=frame) for frame in model.frames()},
             # Add implicit frames used in the SDF specification (__model__).
@@ -249,7 +249,7 @@ class KinematicTree(DirectedTree):
     @staticmethod
     def remove_edge(
         edge: TreeEdge, keep_parent: bool = True
-    ) -> Tuple[DirectedTreeNode, Sequence[TreeFrame]]:
+    ) -> tuple[DirectedTreeNode, Sequence[TreeFrame]]:
         # Removed node: the node to remove.
         # Replaced node: the node removed and replaced with the new node.
         # New node: the new node that combines the removed and replaced nodes.
@@ -306,17 +306,17 @@ class KinematicTree(DirectedTree):
         raise NotImplementedError("Inertial parameters lumping")
 
     @functools.cached_property
-    def links_dict(self) -> Dict[str, DirectedTreeNode]:
+    def links_dict(self) -> dict[str, DirectedTreeNode]:
         return self.nodes_dict
 
     @functools.cached_property
-    def frames_dict(self) -> Dict[str, TreeFrame]:
+    def frames_dict(self) -> dict[str, TreeFrame]:
         return {frame.name(): frame for frame in self.frames}
 
     @functools.cached_property
-    def joints_dict(self) -> Dict[str, TreeEdge]:
+    def joints_dict(self) -> dict[str, TreeEdge]:
         return {joint.name(): joint for joint in self.joints}
 
     @functools.cached_property
-    def joints_connection_dict(self) -> Dict[Tuple[str, str], TreeEdge]:
+    def joints_connection_dict(self) -> dict[tuple[str, str], TreeEdge]:
         return {(j.parent.name(), j.child.name()): j for j in self.joints}

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/pretty_printer.py

@@ -1,7 +1,7 @@
 import abc
 import dataclasses
 import numbers
-from typing import Any, List, Tuple
+from typing import Any
 
 
 class DataclassPrettyPrinter(abc.ABC):
@@ -9,7 +9,7 @@ class DataclassPrettyPrinter(abc.ABC):
         return DataclassPrettyPrinter.dataclass_to_str(obj=self, level=1)
 
     @staticmethod
-    def list_to_string(obj: List[Any], level: int = 1) -> str:
+    def list_to_string(obj: list[Any], level: int = 1) -> str:
         if not isinstance(obj, list):
             raise TypeError(obj, type(obj))
 
@@ -40,7 +40,7 @@ class DataclassPrettyPrinter(abc.ABC):
         if not dataclasses.is_dataclass(obj):
             raise TypeError(obj, type(obj))
 
-        serialization: List[Tuple[str, str]] = []
+        serialization: list[tuple[str, str]] = []
 
         for field in dataclasses.fields(obj):
             attr = getattr(obj, field.name)

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/collision.py

@@ -1,5 +1,4 @@
 import dataclasses
-from typing import Optional
 
 import mashumaro
 
@@ -13,4 +12,4 @@ class Collision(Element):
     geometry: Geometry
     name: str = dataclasses.field(metadata=mashumaro.field_options(alias="@name"))
 
-    pose: Optional[Pose] = dataclasses.field(default=None)
+    pose: Pose | None = dataclasses.field(default=None)

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/common.py

@@ -1,5 +1,7 @@
+from __future__ import annotations
+
 import dataclasses
-from typing import Any, Dict, List, Optional
+from typing import Any
 
 import mashumaro
 import numpy.typing as npt
@@ -9,7 +11,7 @@ from .element import Element
 
 @dataclasses.dataclass
 class Xyz(Element):
-    xyz: List[float] = dataclasses.field(
+    xyz: list[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             alias="#text",
@@ -18,12 +20,12 @@ class Xyz(Element):
         ),
     )
 
-    expressed_in: Optional[str] = dataclasses.field(
+    expressed_in: str | None = dataclasses.field(
         default=None, metadata=mashumaro.field_options(alias="@expressed_in")
     )
 
     @classmethod
-    def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
+    def __pre_deserialize__(cls, d: dict[Any, Any]) -> dict[Any, Any]:
         if isinstance(d, str):
             d = {"#text": d, "@expressed_in": ""}
 
@@ -32,7 +34,7 @@ class Xyz(Element):
 
 @dataclasses.dataclass
 class Pose(Element):
-    pose: List[float] = dataclasses.field(
+    pose: list[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             alias="#text",
@@ -41,31 +43,31 @@ class Pose(Element):
         ),
     )
 
-    relative_to: Optional[str] = dataclasses.field(
+    relative_to: str | None = dataclasses.field(
         default=None, metadata=mashumaro.field_options(alias="@relative_to")
     )
 
-    degrees: Optional[bool] = dataclasses.field(
+    degrees: bool | None = dataclasses.field(
         default=None, metadata=mashumaro.field_options(alias="@degrees")
     )
 
-    rotation_format: Optional[str] = dataclasses.field(
+    rotation_format: str | None = dataclasses.field(
         default=None, metadata=mashumaro.field_options(alias="@rotation_format")
     )
 
     @classmethod
-    def __pre_deserialize__(cls, d: Dict[Any, Any]) -> Dict[Any, Any]:
+    def __pre_deserialize__(cls, d: dict[Any, Any]) -> dict[Any, Any]:
         if isinstance(d, str):
             d = {"#text": d, "@relative_to": ""}
 
         return d
 
     @property
-    def xyz(self) -> List[float]:
+    def xyz(self) -> list[float]:
         return self.pose[0:3]
 
     @property
-    def rpy(self) -> List[float]:
+    def rpy(self) -> list[float]:
         return self.pose[3:6]
 
     def transform(self) -> npt.NDArray:
@@ -89,7 +91,7 @@ class Pose(Element):
         )
 
     @staticmethod
-    def from_transform(transform: npt.NDArray, relative_to: str = None) -> "Pose":
+    def from_transform(transform: npt.NDArray, relative_to: str | None = None) -> Pose:
         if transform.shape != (4, 4):
             raise ValueError(transform.shape)
 
@@ -105,8 +107,8 @@ class Pose(Element):
 class Frame(Element):
     name: str = dataclasses.field(metadata=mashumaro.field_options(alias="@name"))
 
-    attached_to: Optional[str] = dataclasses.field(
+    attached_to: str | None = dataclasses.field(
         default=None, metadata=mashumaro.field_options(alias="@attached_to")
     )
 
-    pose: Optional[Pose] = dataclasses.field(default=None)
+    pose: Pose | None = dataclasses.field(default=None)

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/element.py

@@ -1,5 +1,5 @@
 import dataclasses
-from typing import Any, Dict, List
+from typing import Any
 
 import mashumaro.config
 import mashumaro.mixins.dict
@@ -13,7 +13,7 @@ class Element(mashumaro.mixins.dict.DataClassDictMixin, DataclassPrettyPrinter):
     class Config(mashumaro.config.BaseConfig):
         serialize_by_alias = True
 
-    def __post_serialize__(self, d: Dict[Any, Any]) -> Dict[Any, Any]:
+    def __post_serialize__(self, d: dict[Any, Any]) -> dict[Any, Any]:
         out = d.copy()
 
         for key, value in d.items():
@@ -45,16 +45,16 @@ class Element(mashumaro.mixins.dict.DataClassDictMixin, DataclassPrettyPrinter):
         return str(data)
 
     @staticmethod
-    def serialize_list(data: List[float]) -> str:
+    def serialize_list(data: list[float]) -> str:
         assert isinstance(data, list)
-        return " ".join(np.array(data, dtype=str))
+        return " ".join(map(lambda element: str(float(element)), data))
 
     @staticmethod
-    def deserialize_list(data: str, length: int | None = None) -> List[float]:
+    def deserialize_list(data: str, length: int | None = None) -> list[float]:
         assert isinstance(data, str)
         array = np.atleast_1d(np.array(data.split(sep=" "), dtype=float).squeeze())
 
         if length is not None:
             assert array.size == length
 
-        return list(array)
+        return array.tolist()

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/geometry.py

@@ -1,5 +1,8 @@
+from __future__ import annotations
+
 import dataclasses
-from typing import List, Optional
+import types
+from typing import ClassVar, Union
 
 import mashumaro
 
@@ -8,7 +11,7 @@ from .element import Element
 
 @dataclasses.dataclass
 class Box(Element):
-    size: List[float] = dataclasses.field(
+    size: list[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -41,7 +44,7 @@ class Cylinder(Element):
 
 @dataclasses.dataclass
 class Ellipsoid(Element):
-    radii: List[float] = dataclasses.field(
+    radii: list[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -54,7 +57,7 @@ class Ellipsoid(Element):
 class Heightmap(Element):
     uri: str
 
-    size: List[float] = dataclasses.field(
+    size: list[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             alias="#text",
@@ -63,7 +66,7 @@ class Heightmap(Element):
         ),
     )
 
-    pos: List[float] = dataclasses.field(
+    pos: list[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             alias="#text",
@@ -77,7 +80,7 @@ class Heightmap(Element):
 class Mesh(Element):
     uri: str
 
-    scale: Optional[List[float]] = dataclasses.field(
+    scale: list[float] | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -88,14 +91,14 @@ class Mesh(Element):
 
 @dataclasses.dataclass
 class Plane(Element):
-    normal: List[float] = dataclasses.field(
+    normal: list[float] = dataclasses.field(
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
             deserialize=lambda l: Element.deserialize_list(data=l, length=3),
         ),
     )
 
-    size: Optional[List[float]] = dataclasses.field(
+    size: list[float] | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -113,11 +116,35 @@ class Sphere(Element):
 
 @dataclasses.dataclass
 class Geometry(Element):
-    box: Optional[Box] = dataclasses.field(default=None)
-    capsule: Optional[Capsule] = dataclasses.field(default=None)
-    cylinder: Optional[Capsule] = dataclasses.field(default=None)
-    ellipsoid: Optional[Capsule] = dataclasses.field(default=None)
-    heightmap: Optional[Heightmap] = dataclasses.field(default=None)
-    mesh: Optional[Mesh] = dataclasses.field(default=None)
-    plane: Optional[Mesh] = dataclasses.field(default=None)
-    sphere: Optional[Sphere] = dataclasses.field(default=None)
+
+    GeometryType: ClassVar[types.UnionType] = (
+        Box | Capsule | Cylinder | Ellipsoid | Heightmap | Mesh | Plane | Sphere
+    )
+
+    box: Box | None = dataclasses.field(default=None)
+    capsule: Capsule | None = dataclasses.field(default=None)
+    cylinder: Cylinder | None = dataclasses.field(default=None)
+    ellipsoid: Ellipsoid | None = dataclasses.field(default=None)
+    heightmap: Heightmap | None = dataclasses.field(default=None)
+    mesh: Mesh | None = dataclasses.field(default=None)
+    plane: Plane | None = dataclasses.field(default=None)
+    sphere: Sphere | None = dataclasses.field(default=None)
+
+    def geometries(self) -> list[Geometry.GeometryType]:
+
+        return [
+            self.__getattribute__(field.name)
+            for field in dataclasses.fields(self)
+            if self.__getattribute__(field.name) is not None
+        ]
+
+    def geometry(self) -> Geometry.GeometryType | None:
+        """Return the actual geometry stored in the object"""
+
+        geometries = self.geometries()
+
+        if len(geometries) > 1:
+            msg = "More than one geometry found, returning the first one"
+            logging.warning(msg)
+
+        return geometries[0] if len(geometries) > 0 else None

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/joint.py

@@ -9,12 +9,15 @@ from .element import Element
 
 @dataclasses.dataclass
 class Limit(Element):
-    lower: float = dataclasses.field(
-        metadata=mashumaro.field_options(serialize=Element.serialize_float)
+
+    lower: Optional[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    upper: float = dataclasses.field(
-        metadata=mashumaro.field_options(serialize=Element.serialize_float)
+    upper: Optional[float] = dataclasses.field(
+        default=None,
+        metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
     effort: Optional[float] = dataclasses.field(
@@ -74,5 +77,5 @@ class Joint(Element):
     parent: str
     child: str
 
-    pose: Optional[Pose] = dataclasses.field(default=None)
+    pose: Pose | None = dataclasses.field(default=None)
     axis: Optional[Axis] = dataclasses.field(default=None)

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/link.py

@@ -1,5 +1,4 @@
 import dataclasses
-from typing import List, Optional
 
 import mashumaro
 import numpy as np
@@ -61,58 +60,58 @@ class Inertial(Element):
 
     inertia: Inertia
 
-    name: Optional[str] = dataclasses.field(default=None)
-    pose: Optional[Pose] = dataclasses.field(default=None)
+    name: str | None = dataclasses.field(default=None)
+    pose: Pose | None = dataclasses.field(default=None)
 
 
 @dataclasses.dataclass
 class Link(Element):
     name: str = dataclasses.field(metadata=mashumaro.field_options(alias="@name"))
 
-    pose: Optional[Pose] = dataclasses.field(default=None)
+    pose: Pose | None = dataclasses.field(default=None)
 
-    inertial: Optional[Inertial] = dataclasses.field(default=None)
+    inertial: Inertial | None = dataclasses.field(default=None)
 
-    visual: Optional[Visual | List[Visual]] = dataclasses.field(default=None)
+    visual: Visual | list[Visual] | None = dataclasses.field(default=None)
 
-    collision: Optional[Collision | List[Collision]] = dataclasses.field(default=None)
+    collision: Collision | list[Collision] | None = dataclasses.field(default=None)
 
-    gravity: Optional[bool] = dataclasses.field(
+    gravity: bool | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_bool, deserialize=Element.deserialize_bool
         ),
     )
 
-    enable_wind: Optional[bool] = dataclasses.field(
+    enable_wind: bool | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_bool, deserialize=Element.deserialize_bool
         ),
     )
 
-    self_collide: Optional[bool] = dataclasses.field(
+    self_collide: bool | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_bool, deserialize=Element.deserialize_bool
         ),
     )
 
-    kinematic: Optional[bool] = dataclasses.field(
+    kinematic: bool | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_bool, deserialize=Element.deserialize_bool
         ),
     )
 
-    must_be_base_link: Optional[bool] = dataclasses.field(
+    must_be_base_link: bool | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_bool, deserialize=Element.deserialize_bool
         ),
     )
 
-    def visuals(self) -> List[Visual]:
+    def visuals(self) -> list[Visual]:
         if self.visual is None:
             return []
 
@@ -122,7 +121,7 @@ class Link(Element):
         assert isinstance(self.visual, list), type(self.visual)
         return self.visual
 
-    def collisions(self) -> List[Collision]:
+    def collisions(self) -> list[Collision]:
         if self.collision is None:
             return []
 

{rod-0.3.1.dev7 → rod-0.3.2.dev4}/src/rod/sdf/material.py

@@ -1,5 +1,4 @@
 import dataclasses
-from typing import List, Optional
 
 import mashumaro
 
@@ -14,16 +13,16 @@ class Script(Element):
 
 @dataclasses.dataclass
 class Material(Element):
-    script: Optional[Script] = dataclasses.field(default=None)
+    script: Script | None = dataclasses.field(default=None)
 
-    lightning: Optional[bool] = dataclasses.field(
+    lightning: bool | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_bool, deserialize=Element.deserialize_bool
         ),
     )
 
-    ambient: Optional[List[float]] = dataclasses.field(
+    ambient: list[float] | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -31,7 +30,7 @@ class Material(Element):
         ),
     )
 
-    diffuse: Optional[List[float]] = dataclasses.field(
+    diffuse: list[float] | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -39,7 +38,7 @@ class Material(Element):
         ),
     )
 
-    specular: Optional[List[float]] = dataclasses.field(
+    specular: list[float] | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,
@@ -47,7 +46,7 @@ class Material(Element):
         ),
     )
 
-    emissive: Optional[List[float]] = dataclasses.field(
+    emissive: list[float] | None = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(
             serialize=Element.serialize_list,