scikit-robot 0.2.4__tar.gz → 0.2.6__tar.gz

{scikit_robot-0.2.4/scikit_robot.egg-info → scikit_robot-0.2.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: scikit-robot
-Version: 0.2.4
+Version: 0.2.6
 Summary: A Flexible Framework for Robot Control in Python
 Home-page: https://github.com/iory/scikit-robot
 Author: iory
@@ -11,9 +11,12 @@ Classifier: Intended Audience :: Developers
 Classifier: Natural Language :: English
 Classifier: License :: OSI Approved :: MIT License
 Classifier: Programming Language :: Python
-Classifier: Programming Language :: Python :: 3.5
-Classifier: Programming Language :: Python :: 3.6
-Classifier: Programming Language :: Python :: 3.7
+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 :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Programming Language :: Python :: Implementation :: CPython
 Description-Content-Type: text/markdown
 License-File: LICENSE
@@ -53,7 +56,6 @@ Requires-Dist: sphinx>=1.8.2; extra == "docs"
 Requires-Dist: sphinx_rtd_theme; extra == "docs"
 Provides-Extra: all
 Requires-Dist: pybullet>=2.1.9; extra == "all"
-Requires-Dist: open3d; extra == "all"
 Requires-Dist: fast-simplification; extra == "all"
 Requires-Dist: sphinx>=1.8.2; extra == "all"
 Requires-Dist: sphinx_rtd_theme; extra == "all"
@@ -74,6 +76,7 @@ Dynamic: summary
 # scikit-robot: A Flexible Framework for Robot visualization and programming in Python
 
 ![PyPI](https://img.shields.io/pypi/v/scikit-robot.svg)
+![Python Versions](https://img.shields.io/pypi/pyversions/scikit-robot.svg)
 [![Build Status](https://github.com/iory/scikit-robot/actions/workflows/test.yml/badge.svg?branch=main)](https://github.com/iory/scikit-robot/actions)
 
 

{scikit_robot-0.2.4 → scikit_robot-0.2.6}/README.md

@@ -1,6 +1,7 @@
 # scikit-robot: A Flexible Framework for Robot visualization and programming in Python
 
 ![PyPI](https://img.shields.io/pypi/v/scikit-robot.svg)
+![Python Versions](https://img.shields.io/pypi/pyversions/scikit-robot.svg)
 [![Build Status](https://github.com/iory/scikit-robot/actions/workflows/test.yml/badge.svg?branch=main)](https://github.com/iory/scikit-robot/actions)
 
 

{scikit_robot-0.2.4 → scikit_robot-0.2.6/scikit_robot.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: scikit-robot
-Version: 0.2.4
+Version: 0.2.6
 Summary: A Flexible Framework for Robot Control in Python
 Home-page: https://github.com/iory/scikit-robot
 Author: iory
@@ -11,9 +11,12 @@ Classifier: Intended Audience :: Developers
 Classifier: Natural Language :: English
 Classifier: License :: OSI Approved :: MIT License
 Classifier: Programming Language :: Python
-Classifier: Programming Language :: Python :: 3.5
-Classifier: Programming Language :: Python :: 3.6
-Classifier: Programming Language :: Python :: 3.7
+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 :: 3.12
+Classifier: Programming Language :: Python :: 3.13
 Classifier: Programming Language :: Python :: Implementation :: CPython
 Description-Content-Type: text/markdown
 License-File: LICENSE
@@ -53,7 +56,6 @@ Requires-Dist: sphinx>=1.8.2; extra == "docs"
 Requires-Dist: sphinx_rtd_theme; extra == "docs"
 Provides-Extra: all
 Requires-Dist: pybullet>=2.1.9; extra == "all"
-Requires-Dist: open3d; extra == "all"
 Requires-Dist: fast-simplification; extra == "all"
 Requires-Dist: sphinx>=1.8.2; extra == "all"
 Requires-Dist: sphinx_rtd_theme; extra == "all"
@@ -74,6 +76,7 @@ Dynamic: summary
 # scikit-robot: A Flexible Framework for Robot visualization and programming in Python
 
 ![PyPI](https://img.shields.io/pypi/v/scikit-robot.svg)
+![Python Versions](https://img.shields.io/pypi/pyversions/scikit-robot.svg)
 [![Build Status](https://github.com/iory/scikit-robot/actions/workflows/test.yml/badge.svg?branch=main)](https://github.com/iory/scikit-robot/actions)
 
 

{scikit_robot-0.2.4 → scikit_robot-0.2.6}/scikit_robot.egg-info/requires.txt

@@ -45,7 +45,6 @@ pycollada>=0.8
 
 [all]
 pybullet>=2.1.9
-open3d
 fast-simplification
 sphinx>=1.8.2
 sphinx_rtd_theme

{scikit_robot-0.2.4 → scikit_robot-0.2.6}/setup.py

@@ -8,7 +8,7 @@ from setuptools import find_packages
 from setuptools import setup
 
 
-version = '0.2.4'
+version = '0.2.6'
 
 
 def listup_package_data():
@@ -59,7 +59,9 @@ def remove_from_requirements(install_requires, remove_req):
 
 extra_all_requires = ['pybullet>=2.1.9']
 if (sys.version_info.major > 2):
-    extra_all_requires.append('open3d')
+    # open3d doesn't support Python 3.13 yet
+    if (sys.version_info.major, sys.version_info.minor) < (3, 13):
+        extra_all_requires.append('open3d')
     extra_all_requires.append('fast-simplification')
 
 # Python 2.7 and 3.4 support has been dropped from packages
@@ -106,9 +108,12 @@ setup(
         'Natural Language :: English',
         'License :: OSI Approved :: MIT License',
         'Programming Language :: Python',
-        'Programming Language :: Python :: 3.5',
-        'Programming Language :: Python :: 3.6',
-        'Programming Language :: Python :: 3.7',
+        'Programming Language :: Python :: 3.8',
+        'Programming Language :: Python :: 3.9',
+        'Programming Language :: Python :: 3.10',
+        'Programming Language :: Python :: 3.11',
+        'Programming Language :: Python :: 3.12',
+        'Programming Language :: Python :: 3.13',
         'Programming Language :: Python :: Implementation :: CPython',
     ],
     packages=find_packages(),

{scikit_robot-0.2.4 → scikit_robot-0.2.6}/skrobot/apps/convert_urdf_mesh.py

@@ -7,10 +7,13 @@ from pathlib import Path
 import shutil
 import sys
 
+from lxml import etree
 from packaging.version import Version
 
 from skrobot import determine_version
 from skrobot.model import RobotModel
+from skrobot.urdf.modularize_urdf import find_root_link
+from skrobot.urdf.modularize_urdf import transform_urdf_to_macro
 from skrobot.utils.package import is_package_installed
 from skrobot.utils.urdf import export_mesh_format
 from skrobot.utils.urdf import force_visual_mesh_origin_to_zero
@@ -57,6 +60,14 @@ resulting in less simplification. Default is None."""
         'When specified, uses enhanced decimation that preserves texture '
         'colors by converting them to vertex colors, performing decimation, '
         'and converting back to texture format. Default is None.')
+    parser.add_argument(
+        '--xacro', action='store_true',
+        help='Generate xacro macro file with modularized URDF '
+        'in addition to converted URDF.')
+    parser.add_argument(
+        '--xacro-no-prefix', action='store_true',
+        help='When generating xacro, do not use prefix parameter '
+        '(only works with --xacro option).')
 
     args = parser.parse_args()
 
@@ -128,6 +139,32 @@ resulting in less simplification. Default is None."""
         print(f"Moving {output_path} to {urdf_path} (inplace)")
         shutil.move(output_path, urdf_path)
 
+    if args.xacro:
+        root_link = find_root_link(str(output_path) if not args.inplace else str(urdf_path))
+        xacro_root, robot_name = transform_urdf_to_macro(
+            str(output_path) if not args.inplace else str(urdf_path),
+            root_link,
+            args.xacro_no_prefix
+        )
+
+        xacro_output_path = output_path.with_suffix('.xacro') if not args.inplace else urdf_path.with_suffix('.xacro')
+        etree.ElementTree(xacro_root).write(
+            str(xacro_output_path),
+            pretty_print=True,
+            xml_declaration=True,
+            encoding="utf-8"
+        )
+        print(f"Successfully generated xacro: {xacro_output_path}")
+        prefix_attr = 'prefix="[specify prefix]"' if not args.xacro_no_prefix else ''
+        print(f"""To use the generated xacro macro in your xacro file, copy and paste the following:
+
+  <xacro:{robot_name}
+    {prefix_attr}
+    parent_link="[specify parent link]">
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </xacro:{robot_name}>
+""")
+
 
 if __name__ == '__main__':
     main()

{scikit_robot-0.2.4 → scikit_robot-0.2.6}/skrobot/urdf/modularize_urdf.py

@@ -74,7 +74,9 @@ def transform_urdf_to_macro(input_path, connector_link, no_prefix):
     xacro_root.append(macro)
 
     connector_joint = etree.Element("joint")
-    connector_joint_name = "{}{}_to_${{parent_link}}_joint".format('${prefix}' if not no_prefix else '', connector_link)
+    prefix_part = '${prefix}' if not no_prefix else ''
+    connector_link_with_prefix = add_prefix_to_name(connector_link) if not no_prefix else connector_link
+    connector_joint_name = f"{prefix_part}${{parent_link}}_to_{connector_link_with_prefix}_joint"
     connector_joint.set("name", connector_joint_name)
     connector_joint.set("type", "fixed")