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Merged
fishbotics merged 15 commits into from
Oct 21, 2025
Merged

Typing and Splitting Files for Readability #36

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fc6b879
Split classes into separate file to improve readability
afishman-openai May 16, 2025
6caacba
Cleaned with isort and black
afishman-openai May 16, 2025
b905f50
Updated pyproject
afishman-openai Jun 4, 2025
705c6c4
Removed setup.py and updated python version to 3.9 or higher
afishman-openai Jun 4, 2025
c85854c
Turned off pypi push unless in original repo and under a tag
afishman-openai Jun 4, 2025
e3c2d21
Turned off 3.8 in github actions as well
afishman-openai Jun 4, 2025
e60eda3
Added typing via codex
afishman-openai Oct 6, 2025
14d117e
Improved typing to not use object or Any
afishman-openai Oct 8, 2025
56ba476
Fixed 3.9 Union issues
afishman-openai Oct 8, 2025
2cb4985
Changed union specification to support python 3.9
afishman-openai Oct 8, 2025
9d2ff2e
Fixed ruff
afishman-openai Oct 8, 2025
503ec99
Fixed mypy
afishman-openai Oct 8, 2025
6e51594
Merge pull request #1 from openai/codex/typing
afishman-openai Oct 8, 2025
ca49d1c
Merge branch 'main' of github.com:afishman-openai/urchin
afishman-openai Oct 20, 2025
34206d3
Pinned ruff and mypy at newer versions
afishman-openai Oct 21, 2025
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43 changes: 43 additions & 0 deletions .github/workflows/ci.yml
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@@ -0,0 +1,43 @@
name: CI

on:
push:
branches: [ main, master ]
pull_request:
branches: [ "**" ]

jobs:
build:
runs-on: ubuntu-latest
strategy:
matrix:
python-version: ["3.9", "3.10", "3.11", "3.12"]

steps:
- name: Checkout
uses: actions/checkout@v4

- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v5
with:
python-version: ${{ matrix.python-version }}

- name: Install dependencies
run: |
python -m pip install --upgrade pip
pip install -r requirements.txt
pip install .[dev]
pip install mypy==1.18.2 ruff==0.14.1

- name: Ruff Lint
run: |
ruff check .
ruff format --check .

- name: Mypy
run: |
mypy urchin

- name: Pytest
run: |
pytest -q
49 changes: 22 additions & 27 deletions .github/workflows/publish-to-pypi.yml
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@@ -1,36 +1,31 @@
name: Publish Python 🐍 distributions 📦 to PyPI

on: push
on:
push:
tags:
- "*" # Only run on tag pushes

jobs:
build-n-publish:
name: Build and publish Python 🐍 distributions 📦 to PyPI
if: github.repository == 'fishbotics/urchin'
runs-on: ubuntu-latest

steps:
- uses: actions/checkout@v3
- name: Set up Python
uses: actions/setup-python@v4
with:
python-version: "3.x"

- name: Install pypa/build
run: >-
python -m
pip install
build
--user
- name: Build a binary wheel and a source tarball
run: >-
python -m
build
--sdist
--wheel
--outdir dist/
.
- uses: actions/checkout@v3

- name: Set up Python
uses: actions/setup-python@v4
with:
python-version: "3.x"

- name: Install pypa/build
run: python -m pip install build --user

- name: Build a binary wheel and a source tarball
run: python -m build --sdist --wheel --outdir dist/

- name: Publish distribution 📦 to PyPI
if: startsWith(github.ref, 'refs/tags')
uses: pypa/gh-action-pypi-publish@release/v1
with:
password: ${{ secrets.PYPI_API_TOKEN }}
- name: Publish distribution 📦 to PyPI
uses: pypa/gh-action-pypi-publish@release/v1
with:
password: ${{ secrets.PYPI_API_TOKEN }}
33 changes: 16 additions & 17 deletions .github/workflows/test.yml
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Expand Up @@ -4,31 +4,30 @@ on:
push:
pull_request:
schedule:
# * is a special character in YAML so you have to quote this string
# Execute a "weekly" build at 0 AM UTC on Mondays
- cron: '0 0 * * MON'
# * is a special character in YAML so you have to quote this string
# Execute a "weekly" build at 0 AM UTC on Mondays
- cron: "0 0 * * MON"

jobs:
build:

runs-on: ubuntu-latest
strategy:
fail-fast: false
matrix:
python-version: ["3.9", "3.10", "3.11", "3.12", "3.13"]

steps:
- uses: actions/checkout@v3
- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v3
with:
python-version: ${{ matrix.python-version }}
- name: Install package
run: |
python -m pip install --upgrade pip
python -m pip install flake8 pytest pytest-cov coveralls wheel
python -m pip install .
- uses: actions/checkout@v3
- name: Set up Python ${{ matrix.python-version }}
uses: actions/setup-python@v3
with:
python-version: ${{ matrix.python-version }}
- name: Install package
run: |
python -m pip install --upgrade pip
python -m pip install flake8 pytest pytest-cov coveralls wheel
python -m pip install .

- name: Test with pytest
run: |
pytest --cov=urchin tests
- name: Test with pytest
run: |
pytest --cov=urchin tests
31 changes: 26 additions & 5 deletions .pre-commit-config.yaml
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@@ -1,6 +1,27 @@
repos:
- repo: https://gitlab.com/pycqa/flake8
rev: 3.7.1
hooks:
- id: flake8
exclude: ^setup.py
- repo: https://gitlab.com/pycqa/flake8
rev: 3.7.1
hooks:
- id: flake8
exclude: ^setup.py
- repo: https://github.com/astral-sh/ruff-pre-commit
rev: v0.14.1
hooks:
- id: ruff
name: ruff (lint + isort)
args: ["--fix"]
- id: ruff-format
name: ruff (format)
- repo: https://github.com/pre-commit/mirrors-mypy
rev: v1.18.2
hooks:
- id: mypy
name: mypy
args: ["--config=pyproject.toml", "urchin"]
- repo: local
hooks:
- id: pytest
name: pytest
entry: pytest -q
language: system
pass_filenames: false
8 changes: 3 additions & 5 deletions docs/source/conf.py
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Expand Up @@ -79,7 +79,7 @@
# List of patterns, relative to source directory, that match files and
# directories to ignore when looking for source files.
# This pattern also affects html_static_path and html_extra_path.
exclude_patterns = []
exclude_patterns: list[str] = []

# The name of the Pygments (syntax highlighting) style to use.
pygments_style = None
Expand Down Expand Up @@ -124,7 +124,7 @@

# -- Options for LaTeX output ------------------------------------------------

latex_elements = {
latex_elements: dict[str, str] = {
# The paper size ('letterpaper' or 'a4paper').
#
# 'papersize': 'letterpaper',
Expand Down Expand Up @@ -217,9 +217,7 @@ class MyPythonDomain(PythonDomain):
def find_obj(self, env, modname, classname, name, type, searchmode=0):
"""Ensures an object always resolves to the desired module
if defined there."""
orig_matches = PythonDomain.find_obj(
self, env, modname, classname, name, type, searchmode
)
orig_matches = PythonDomain.find_obj(self, env, modname, classname, name, type, searchmode)

if len(orig_matches) <= 1:
return orig_matches
Expand Down
73 changes: 73 additions & 0 deletions pyproject.toml
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[build-system]
requires = ["setuptools>=61.0", "wheel"]
build-backend = "setuptools.build_meta"

[project]
name = "urchin"
version = "0.0.30"
requires-python = ">=3.9"
description = "URDF parser and manipulator for Python"
readme = { text = "URDF parser and manipulator for Python. This package is a fork of urdfpy, which seems to be no longer maintained.", content-type = "text/plain" }
authors = [
{ name = "Adam Fishman", email = "hello@fishbotics.com" }
]
license = { text = "MIT License" }
urls = { "Homepage" = "https://github.com/fishbotics/urchin" }
keywords = ["robotics", "ros", "urdf", "robots", "parser"]
classifiers = [
"Development Status :: 4 - Beta",
"License :: OSI Approved :: MIT License",
"Programming Language :: Python",
"Programming Language :: Python :: 3.9",
"Programming Language :: Python :: 3.10",
"Programming Language :: Python :: 3.11",
"Programming Language :: Python :: 3.12",
"Natural Language :: English",
"Topic :: Scientific/Engineering"
]
dependencies = [
"lxml", # For XML DOM Tree
"networkx", # For joint graph
"numpy>=1.20", # Numpy
"pillow", # For texture image loading
"pycollada>=0.6", # COLLADA (.dae) mesh loading via trimesh
"pyribbit>=0.1.46", # For visualization
"scipy", # For trimesh, annoyingly
"trimesh" # Mesh geometry loading/creation/saving
]

[project.optional-dependencies]
dev = [
"flake8", # Code formatting checker
"pre-commit", # Pre-commit hooks
"pytest", # Code testing
"pytest-cov", # Coverage testing
"tox" # Automatic virtualenv testing
]
docs = [
"sphinx", # General doc library
"sphinx_rtd_theme", # RTD theme for sphinx
"sphinx-automodapi" # For generating nice tables
]

[tool.mypy]
python_version = "3.10"
strict = false
warn_unused_ignores = true

[[tool.mypy.overrides]]
module = ["lxml.*", "trimesh.*", "networkx.*", "PIL.*", "pyribbit.*", "sphinx.*", "sphinx_rtd_theme"]
ignore_missing_imports = true

[tool.ruff]
line-length = 100
target-version = "py310"

[tool.ruff.lint]
select = ["E", "F", "I"]
fixable = ["ALL"]

[tool.ruff.format]
quote-style = "double"
indent-style = "space"
docstring-code-format = true
6 changes: 2 additions & 4 deletions scripts/vis_urdf.py
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Expand Up @@ -2,17 +2,15 @@
Script for visualizing a robot from a URDF.
Author: Matthew Matl
"""

import argparse

import urchin

if __name__ == "__main__":

# Parse Args
parser = argparse.ArgumentParser(description="Visualize a robot from a URDF file")
parser.add_argument(
"urdf", type=str, help="Path to URDF file that describes the robot"
)
parser.add_argument("urdf", type=str, help="Path to URDF file that describes the robot")
parser.add_argument("-a", action="store_true", help="Visualize robot articulation")
parser.add_argument("-c", action="store_true", help="Use collision geometry")

Expand Down
59 changes: 0 additions & 59 deletions setup.py
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