rod 0.3.4__tar.gz → 0.3.4.dev2__tar.gz

{rod-0.3.4 → rod-0.3.4.dev2}/.github/workflows/ci_cd.yml

@@ -165,8 +165,6 @@ jobs:
     name: Publish to PyPI
     needs: test
     runs-on: ubuntu-latest
-    permissions:
-        id-token: write
 
     steps:
 
@@ -186,4 +184,6 @@ jobs:
            (github.event_name == 'release' && github.event.action == 'published'))
         uses: pypa/gh-action-pypi-publish@release/v1
         with:
+          user: __token__
+          password: ${{ secrets.PYPI_TOKEN }}
           skip_existing: true

rod-0.3.4.dev2/.github/workflows/style.yml

@@ -0,0 +1,53 @@
+name: Code Style
+
+on:
+  push:
+    branches: [ "**" ]
+    tags-ignore: [ "**" ]
+  pull_request:
+  workflow_dispatch:
+
+jobs:
+
+  black:
+
+    name: black
+    runs-on: ubuntu-latest
+
+    steps:
+
+      - name: "🔀 Checkout repository"
+        uses: actions/checkout@v2
+
+      - name: '🐍 Initialize Python'
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.10"
+
+      - name: "📝 Black Code Formatter"
+        uses: psf/black@stable
+        with:
+          options: --check --diff --color
+
+  isort:
+
+    name: isort
+    runs-on: ubuntu-latest
+
+    steps:
+
+      - name: "🔀 Checkout repository"
+        uses: actions/checkout@v2
+
+      - name: '🐍 Initialize Python'
+        uses: actions/setup-python@v2
+        with:
+          python-version: "3.10"
+
+      # Workaround for https://github.com/isort/isort-action/issues/70
+      - run: pip install colorama
+
+      - name: "📝 isort"
+        uses: isort/isort-action@master
+        with:
+          configuration: --check --diff --color

{rod-0.3.4 → rod-0.3.4.dev2}/LICENSE

@@ -1,6 +1,6 @@
 BSD 3-Clause License
 
-Copyright (c) 2022, Artificial and Mechanical Intelligence
+Copyright (c) 2022, Artificial and Mechanical Intelligence 
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

{rod-0.3.4 → rod-0.3.4.dev2}/PKG-INFO

@@ -1,43 +1,16 @@
 Metadata-Version: 2.1
 Name: rod
-Version: 0.3.4
+Version: 0.3.4.dev2
 Summary: The ultimate Python tool for RObot Descriptions processing.
-Author-email: Diego Ferigo <dgferigo@gmail.com>
-Maintainer-email: Filippo Luca Ferretti <filippo.ferretti@iit.it>, Carlotta Sartore <carlotta.sartore@iit.it>
-License: BSD 3-Clause License
-        
-        Copyright (c) 2022, Artificial and Mechanical Intelligence
-        All rights reserved.
-        
-        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.
-        
+Home-page: https://github.com/ami-iit/rod
+Author: Diego Ferigo
+Author-email: diego.ferigo@iit.it
+License: BSD
 Project-URL: Changelog, https://github.com/ami-iit/rod/releases
 Project-URL: Source, https://github.com/ami-iit/rod
 Project-URL: Tracker, https://github.com/ami-iit/rod/issues
 Keywords: description,gazebo,parser,robot,robotics,ros,sdf,sdformat,simulator,simulation,urdf
+Platform: any
 Classifier: Development Status :: 5 - Production/Stable
 Classifier: Framework :: Robot Framework
 Classifier: Intended Audience :: Science/Research
@@ -52,7 +25,6 @@ Classifier: Programming Language :: Python :: 3
 Classifier: Programming Language :: Python :: 3.10
 Classifier: Programming Language :: Python :: 3.11
 Classifier: Programming Language :: Python :: 3.12
-Classifier: Programming Language :: Python :: 3.13
 Classifier: Programming Language :: Python :: 3 :: Only
 Classifier: Programming Language :: Python :: Implementation :: CPython
 Classifier: Topic :: Games/Entertainment :: Simulation
@@ -68,17 +40,23 @@ Requires-Dist: scipy
 Requires-Dist: trimesh
 Requires-Dist: xmltodict
 Provides-Extra: style
-Requires-Dist: black~=24.0; extra == "style"
+Requires-Dist: black; extra == "style"
 Requires-Dist: isort; extra == "style"
 Provides-Extra: pptree
 Requires-Dist: pptree; extra == "pptree"
-Provides-Extra: testing
-Requires-Dist: idyntree>=12.2.1; extra == "testing"
-Requires-Dist: pytest>=6.0; extra == "testing"
-Requires-Dist: pytest-icdiff; extra == "testing"
-Requires-Dist: robot-descriptions; extra == "testing"
+Provides-Extra: test
+Requires-Dist: idyntree; extra == "test"
+Requires-Dist: pytest; extra == "test"
+Requires-Dist: pytest-icdiff; extra == "test"
+Requires-Dist: robot-descriptions; extra == "test"
 Provides-Extra: all
-Requires-Dist: rod[pptree,style,testing]; extra == "all"
+Requires-Dist: black; extra == "all"
+Requires-Dist: isort; extra == "all"
+Requires-Dist: pptree; extra == "all"
+Requires-Dist: idyntree; extra == "all"
+Requires-Dist: pytest; extra == "all"
+Requires-Dist: pytest-icdiff; extra == "all"
+Requires-Dist: robot-descriptions; extra == "all"
 
 # RObot Description processor
 
@@ -144,7 +122,7 @@ Installing ROD using `conda` is the recommended way to obtain a complete install
 conda install rod -c conda-forge
 ```
 
-This will automatically install `sdformat` and `gz-tools`.
+This will automatically install `sdformat` and `gz-tools`. 
 
 </details>
 
@@ -324,28 +302,16 @@ print(urdf_string)
 
 ## Contributing
 
-Pull requests are welcome.
+Pull requests are welcome. 
 For major changes, please open an issue first to discuss what you would like to change.
 
-## People
-
-### Author
+## Maintainers
 
 | [<img src="https://github.com/diegoferigo.png" width="40">][df] | [@diegoferigo][df] |
 |:---------------------------------------------------------------:|:------------------:|
 
 [df]: https://github.com/diegoferigo
 
-### Maintainers
-
-| [<img src="https://github.com/flferretti.png" width="40">][ff] | [@flferretti][ff] | [<img src="https://github.com/CarlottaSartore.png" width="40">][cs] | [@CarlottaSartore][cs] |
-|:---------------------------------------------------------------:|:------------------:|:---------------------------------------------------------------:|:------------------:|
-
-
-
-[ff]: https://github.com/flferretti
-[cs]: https://github.com/CarlottaSartore
-
 ## License
 
 [BSD3](https://choosealicense.com/licenses/bsd-3-clause/)

{rod-0.3.4 → rod-0.3.4.dev2}/README.md

@@ -62,7 +62,7 @@ Installing ROD using `conda` is the recommended way to obtain a complete install
 conda install rod -c conda-forge
 ```
 
-This will automatically install `sdformat` and `gz-tools`.
+This will automatically install `sdformat` and `gz-tools`. 
 
 </details>
 
@@ -242,28 +242,16 @@ print(urdf_string)
 
 ## Contributing
 
-Pull requests are welcome.
+Pull requests are welcome. 
 For major changes, please open an issue first to discuss what you would like to change.
 
-## People
-
-### Author
+## Maintainers
 
 | [<img src="https://github.com/diegoferigo.png" width="40">][df] | [@diegoferigo][df] |
 |:---------------------------------------------------------------:|:------------------:|
 
 [df]: https://github.com/diegoferigo
 
-### Maintainers
-
-| [<img src="https://github.com/flferretti.png" width="40">][ff] | [@flferretti][ff] | [<img src="https://github.com/CarlottaSartore.png" width="40">][cs] | [@CarlottaSartore][cs] |
-|:---------------------------------------------------------------:|:------------------:|:---------------------------------------------------------------:|:------------------:|
-
-
-
-[ff]: https://github.com/flferretti
-[cs]: https://github.com/CarlottaSartore
-
 ## License
 
 [BSD3](https://choosealicense.com/licenses/bsd-3-clause/)

rod-0.3.4.dev2/pyproject.toml

@@ -0,0 +1,20 @@
+[build-system]
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.2",
+]
+build-backend = "setuptools.build_meta"
+
+[tool.setuptools_scm]
+local_scheme = "dirty-tag"
+
+[tool.black]
+line-length = 88
+
+[tool.isort]
+profile = "black"
+multi_line_output = 3
+
+[tool.cibuildwheel]
+build-frontend = "build"

rod-0.3.4.dev2/setup.cfg

@@ -0,0 +1,89 @@
+[metadata]
+name = rod
+description = The ultimate Python tool for RObot Descriptions processing.
+long_description = file: README.md
+long_description_content_type = text/markdown
+author = Diego Ferigo
+author_email = diego.ferigo@iit.it
+license = BSD
+license_files = LICENSE
+platforms = any
+url = https://github.com/ami-iit/rod
+project_urls = 
+	Changelog = https://github.com/ami-iit/rod/releases
+	Source = https://github.com/ami-iit/rod
+	Tracker = https://github.com/ami-iit/rod/issues
+keywords = 
+	description
+	gazebo
+	parser
+	robot
+	robotics
+	ros
+	sdf
+	sdformat
+	simulator
+	simulation
+	urdf
+classifiers = 
+	Development Status :: 5 - Production/Stable
+	Framework :: Robot Framework
+	Intended Audience :: Science/Research
+	Intended Audience :: Developers
+	Intended Audience :: Education
+	License :: OSI Approved :: BSD License
+	Operating System :: OS Independent
+	Operating System :: POSIX :: Linux
+	Operating System :: MacOS
+	Operating System :: Microsoft :: Windows
+	Programming Language :: Python :: 3
+	Programming Language :: Python :: 3.10
+	Programming Language :: Python :: 3.11
+	Programming Language :: Python :: 3.12
+	Programming Language :: Python :: 3 :: Only
+	Programming Language :: Python :: Implementation :: CPython
+	Topic :: Games/Entertainment :: Simulation
+
+[options]
+zip_safe = False
+packages = find:
+package_dir = 
+	=src
+python_requires = >=3.10
+install_requires = 
+	coloredlogs
+	mashumaro
+	numpy
+	packaging
+	resolve-robotics-uri-py
+	scipy
+	trimesh
+	xmltodict
+
+[options.extras_require]
+style = 
+	black
+	isort
+pptree = 
+	pptree
+test = 
+	idyntree
+	pytest
+	pytest-icdiff
+	robot-descriptions
+all = 
+	%(style)s
+	%(pptree)s
+	%(test)s
+
+[options.packages.find]
+where = src
+
+[tool:pytest]
+addopts = -rsxX -v --strict-markers
+testpaths = tests
+
+[egg_info]
+tag_build = 
+tag_date = 0
+

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/builder/primitive_builder.py

@@ -12,9 +12,8 @@ from rod import logging
 
 @dataclasses.dataclass
 class PrimitiveBuilder(abc.ABC):
-
-    name: str = dataclasses.field(kw_only=True)
-    mass: float = dataclasses.field(kw_only=True)
+    name: str
+    mass: float
 
     element: rod.Model | rod.Link | rod.Inertial | rod.Collision | rod.Visual = (
         dataclasses.field(
@@ -121,7 +120,7 @@ class PrimitiveBuilder(abc.ABC):
         pose: rod.Pose | None = None,
         inertial: rod.Inertial | None = None,
     ) -> PrimitiveBuilder:
-        if not isinstance(self.element, rod.Model | rod.Link):
+        if not isinstance(self.element, (rod.Model, rod.Link)):
             raise ValueError(type(self.element))
 
         if isinstance(self.element, rod.Model):
@@ -151,7 +150,7 @@ class PrimitiveBuilder(abc.ABC):
         pose: rod.Pose | None = None,
         visual: rod.Visual | None = None,
     ) -> PrimitiveBuilder:
-        if not isinstance(self.element, rod.Model | rod.Link):
+        if not isinstance(self.element, (rod.Model, rod.Link)):
             raise ValueError(type(self.element))
 
         if isinstance(self.element, rod.Model):
@@ -187,7 +186,7 @@ class PrimitiveBuilder(abc.ABC):
         pose: rod.Pose | None = None,
         collision: rod.Collision | None = None,
     ) -> PrimitiveBuilder:
-        if not isinstance(self.element, rod.Model | rod.Link):
+        if not isinstance(self.element, (rod.Model, rod.Link)):
             raise ValueError(type(self.element))
 
         if isinstance(self.element, rod.Model):

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/builder/primitives.py

@@ -1,13 +1,10 @@
 import dataclasses
 import pathlib
 
-import numpy as np
-import numpy.typing as npt
-import resolve_robotics_uri_py
 import trimesh
+from numpy.typing import NDArray
 
 import rod
-from rod import logging
 from rod.builder.primitive_builder import PrimitiveBuilder
 
 
@@ -65,13 +62,8 @@ class CylinderBuilder(PrimitiveBuilder):
 
 @dataclasses.dataclass
 class MeshBuilder(PrimitiveBuilder):
-
-    mesh_uri: str | pathlib.Path
-
-    scale: npt.NDArray = dataclasses.field(default_factory=lambda: np.ones(3))
-
-    mass: float | None = dataclasses.field(default=None, kw_only=True)
-    inertia_tensor: npt.NDArray | None = dataclasses.field(default=None, kw_only=True)
+    mesh_path: str | pathlib.Path
+    scale: NDArray
 
     def __post_init__(self) -> None:
         """
@@ -82,46 +74,34 @@ class MeshBuilder(PrimitiveBuilder):
             AssertionError: If the scale is not a 3D vector.
             TypeError: If the mesh_path is not a str or pathlib.Path.
         """
-        # Adjust the shape of the scale.
-        self.scale = self.scale.squeeze()
-
-        if self.scale.shape != (3,):
-            raise RuntimeError(f"Scale must be a 3D vector, got '{self.scale.shape}'")
-
-        # Resolve the mesh URI.
-        mesh_path = resolve_robotics_uri_py.resolve_robotics_uri(uri=str(self.mesh_uri))
-
-        # Build the trimesh object from the mesh path.
-        self.mesh: trimesh.base.Trimesh = trimesh.load_mesh(file_obj=mesh_path)
-
-        # Populate the mass from the mesh if it was not provided externally.
-        if self.mass is None:
-
-            if self.mesh.is_watertight:
-                self.mass = self.mesh.mass
 
-            else:
-                msg = "Mesh '{}' is not watertight. Using a dummy mass value."
-                logging.warning(msg.format(self.mesh_uri))
-                self.mass = 1.0
+        mesh_path = (
+            self.mesh_path
+            if isinstance(self.mesh_path, pathlib.Path)
+            else pathlib.Path(self.mesh_path)
+        )
 
-        # Populate the inertia tensor from the mesh if it was not provided externally.
-        if self.inertia_tensor is None:
+        if not mesh_path.is_file():
+            raise FileNotFoundError(f"Mesh file not found at {self.mesh_path}")
 
-            if self.mesh.is_watertight:
-                self.inertia_tensor = self.mesh.moment_inertia
+        self.mesh: trimesh.base.Trimesh = trimesh.load_mesh(
+            file_obj=mesh_path,
+        )
 
-            else:
-                msg = "Mesh '{}' is not watertight. Using a dummy inertia tensor."
-                logging.warning(msg.format(self.mesh_uri))
-                self.inertia_tensor = np.eye(3)
+        assert self.scale.shape == (
+            3,
+        ), f"Scale must be a 3D vector, got {self.scale.shape}"
 
     def _inertia(self) -> rod.Inertia:
-
-        return rod.Inertia.from_inertia_tensor(inertia_tensor=self.inertia_tensor)
+        inertia = self.mesh.moment_inertia
+        return rod.Inertia(
+            ixx=inertia[0, 0],
+            ixy=inertia[0, 1],
+            ixz=inertia[0, 2],
+            iyy=inertia[1, 1],
+            iyz=inertia[1, 2],
+            izz=inertia[2, 2],
+        )
 
     def _geometry(self) -> rod.Geometry:
-
-        return rod.Geometry(
-            mesh=rod.Mesh(uri=str(self.mesh_uri), scale=self.scale.tolist())
-        )
+        return rod.Geometry(mesh=rod.Mesh(uri=str(self.mesh_path), scale=self.scale))

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/kinematics/kinematic_tree.py

@@ -3,7 +3,7 @@ from __future__ import annotations
 import copy
 import dataclasses
 import functools
-from collections.abc import Sequence
+from typing import Sequence
 
 import numpy as np
 

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/kinematics/tree_transforms.py

@@ -13,9 +13,7 @@ from rod.tree import TreeFrame
 
 @dataclasses.dataclass
 class TreeTransforms:
-    kinematic_tree: KinematicTree = dataclasses.field(
-        default_factory=dataclasses.dataclass(init=False)
-    )
+    kinematic_tree: KinematicTree = dataclasses.dataclass(init=False)
     _transform_cache: dict[str, npt.NDArray] = dataclasses.field(default_factory=dict)
 
     @staticmethod

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/pretty_printer.py

@@ -13,7 +13,7 @@ class DataclassPrettyPrinter(abc.ABC):
         if not isinstance(obj, list):
             raise TypeError(obj, type(obj))
 
-        if all(isinstance(el, numbers.Number | str) for el in obj):
+        if all(isinstance(el, (numbers.Number, str)) for el in obj):
             return str(obj)
 
         spacing = " " * 4

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/sdf/geometry.py

@@ -2,12 +2,10 @@ from __future__ import annotations
 
 import dataclasses
 import types
-from typing import ClassVar
+from typing import ClassVar, Union
 
 import mashumaro
 
-from rod import logging
-
 from .element import Element
 
 

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/sdf/joint.py

@@ -1,4 +1,5 @@
 import dataclasses
+from typing import Optional
 
 import mashumaro
 
@@ -9,32 +10,32 @@ from .element import Element
 @dataclasses.dataclass
 class Limit(Element):
 
-    lower: float | None = dataclasses.field(
+    lower: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    upper: float | None = dataclasses.field(
+    upper: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    effort: float | None = dataclasses.field(
+    effort: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    velocity: float | None = dataclasses.field(
+    velocity: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    stiffness: float | None = dataclasses.field(
+    stiffness: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    dissipation: float | None = dataclasses.field(
+    dissipation: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
@@ -50,12 +51,12 @@ class Dynamics(Element):
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    damping: float | None = dataclasses.field(
+    damping: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    friction: float | None = dataclasses.field(
+    friction: Optional[float] = dataclasses.field(
         default=None,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
@@ -65,7 +66,7 @@ class Dynamics(Element):
 class Axis(Element):
     xyz: Xyz
     limit: Limit
-    dynamics: Dynamics | None = dataclasses.field(default=None)
+    dynamics: Optional[Dynamics] = dataclasses.field(default=None)
 
 
 @dataclasses.dataclass
@@ -77,4 +78,4 @@ class Joint(Element):
     child: str
 
     pose: Pose | None = dataclasses.field(default=None)
-    axis: Axis | None = dataclasses.field(default=None)
+    axis: Optional[Axis] = dataclasses.field(default=None)

{rod-0.3.4 → rod-0.3.4.dev2}/src/rod/sdf/link.py

@@ -1,13 +1,9 @@
-from __future__ import annotations
-
 import dataclasses
 
 import mashumaro
 import numpy as np
 import numpy.typing as npt
 
-from rod import logging
-
 from .collision import Collision
 from .common import Pose
 from .element import Element
@@ -16,7 +12,6 @@ from .visual import Visual
 
 @dataclasses.dataclass
 class Inertia(Element):
-
     ixx: float = dataclasses.field(
         default=1.0,
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
@@ -47,42 +42,6 @@ class Inertia(Element):
         metadata=mashumaro.field_options(serialize=Element.serialize_float),
     )
 
-    @staticmethod
-    def from_inertia_tensor(
-        inertia_tensor: npt.NDArray, validate: bool = True
-    ) -> Inertia:
-
-        inertia_tensor = inertia_tensor.squeeze()
-
-        if inertia_tensor.shape != (3, 3):
-            raise ValueError(f"Expected shape (3, 3), got {inertia_tensor.shape}")
-
-        # Extract the diagonal terms.
-        I1, I2, I3 = np.diag(inertia_tensor)
-
-        # Check if the inertia tensor meets the triangular inequality.
-        valid = True
-        valid = valid and I1 + I2 >= I3
-        valid = valid and I1 + I3 >= I2
-        valid = valid and I2 + I3 >= I1
-
-        if not valid:
-            msg = "Inertia tensor does not meet the triangular inequality"
-
-            if not validate:
-                logging.warning(msg)
-            else:
-                raise ValueError(msg)
-
-        return Inertia(
-            ixx=float(inertia_tensor[0, 0]),
-            ixy=float(inertia_tensor[0, 1]),
-            ixz=float(inertia_tensor[0, 2]),
-            iyy=float(inertia_tensor[1, 1]),
-            iyz=float(inertia_tensor[1, 2]),
-            izz=float(inertia_tensor[2, 2]),
-        )
-
     def matrix(self) -> npt.NDArray:
         return np.array(
             [