Add first version of the package (#1)

.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"
+
+    # 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

README.md

@@ -1,2 +1,53 @@
 # resolve-robotics-uri-py
-Resolve a package:// or model:// URI to an absolute filename in Python.
+
+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 git+https://github.com/ami-iit/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
+~~~
+
+## 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)

ci_env.yml

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

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

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 = [email protected]
+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

setup.py

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+import setuptools
+
+setuptools.setup()

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()