ami-iit / resolve-robotics-uri-py

Resolve a package:// or model:// URI to an absolute filename in Python.

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

Install using onle one of the following commands to install in an existing environment:

Installation from conda-forge

mamba install -c conda-forge resolve-robotics-uri-py

Installation from PyPI

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:

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:

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:

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:

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

resolve-robotics-uri-py's Issues

Allow user to pass custom search paths

When using robot_descriptions, this library cannot resolve the URIs due to the fact that robot_descriptions does not expose any environment variable of the one supported:

SupportedEnvVars = {
    "AMENT_PREFIX_PATH",
    "GAZEBO_MODEL_PATH",
    "GZ_SIM_RESOURCE_PATH",
    "IGN_GAZEBO_RESOURCE_PATH",
    "ROS_PACKAGE_PATH",
    "SDF_PATH",
}

As a result, resolve_robotics_uri_py cannot locate the necessary resources. Do you think that it could be beneficial to allow passing an additional environment variable for specifying custom search path as in 1c9e78f?

C.C. @traversaro @lorycontixd

Implement C++ version (resolve-robotics-uri-cpp)

As also in C++ this can be useful, see for example robotology/whole-body-estimators#147 .

Simplify import structure for `resolve_robotics_uri` function

The current package organization needs the following import statement for using the resolve_robotics_uri function:

from resolve_robotics_uri_py.resolve_robotics_uri_py import resolve_robotics_uri

In the interest of maintaining concise import statements, the idea is to include the following line within the __init__.py file, simplifying the package import process:

from .resolve_robotics_uri_py import resolve_robotics_uri

This adjustment would allow to import the function using the following compact syntax:

from resolve_robotics_uri_py import resolve_robotics_uri