Reimplement the python machinery to get the model location in pure py…

…thon

- Remove the pybind11 dependency
- Implement setup.py and setup.cfg to install the icub_models package

CMakeLists.txt

@@ -179,8 +179,6 @@ string(REPLACE ";" "," INSTALLED_URDF_MODELS "${INSTALLED_URDF_MODELS}")
 install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/iCub DESTINATION share)
 
 add_subdirectory(cpp)
-add_subdirectory(bindings)
-
 
 include(InstallBasicPackageFiles)
 install_basic_package_files(${PROJECT_NAME}

pyproject.toml

@@ -0,0 +1,18 @@
+# Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# Released under the terms of the BSD 3-Clause License
+
+[build-system]
+build-backend = "setuptools.build_meta"
+requires = [
+    "wheel",
+    "setuptools>=45",
+    "setuptools_scm[toml]>=6.0",
+]
+
+[tool.black]
+line-length = 88
+
+[tool.isort]
+profile = "black"
+multi_line_output = 3

python/icub_models/__init__.py

@@ -0,0 +1 @@
+from .icub_models import get_model_file, get_robot_names, get_models_path

python/icub_models/icub_models.py

@@ -0,0 +1,23 @@
+# @file icub_models.py
+# @authors Giulio Romualdi
+# @copyright 2022 Istituto Italiano di Tecnologia Released under the terms of the Creative Commons Attribution Share Alike 4.0 International
+
+from os import listdir
+from os.path import dirname, join, isdir, exists
+from typing import List
+
+
+def get_models_path() -> str:
+    root = dirname(dirname(dirname(dirname(dirname(__file__)))))
+    return join(root, 'share', 'icub_models', 'iCub', 'robots')
+
+def get_robot_names() -> List[str]:
+    return listdir(get_models_path())
+
+def get_model_file(robot_name: str) -> str:
+    model_file = join(get_models_path(), robot_name, 'model.urdf')
+
+    if exists(model_file):
+        return model_file
+    else:
+        return ''

setup.cfg

@@ -0,0 +1,32 @@
+# Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# Released under the terms of the BSD 3-Clause License
+
+[metadata]
+name = icub_models
+description = Visualizer for robot logger
+author = 'Giulio Romualdi'
+author_email = 'giulio.romualdi@iit.it'
+license = Creative Commons Attribution Share Alike 4.0 International
+license_file = LICENSE
+url = /~https://github.com/robotolgy/icub-models
+version = 1.23.0
+platforms = any
+
+keywords =
+    robotics
+    gazebo
+    urdf
+    ros
+    icub
+    gazebo-models
+    gazebo-simulators
+
+[options]
+packages = find:
+python_requires = >=3.8
+package_dir =
+  = python
+
+[options.packages.find]
+where = python

setup.py

@@ -0,0 +1,17 @@
+# Copyright (C) 2022 Istituto Italiano di Tecnologia (IIT). All rights reserved.
+# This software may be modified and distributed under the terms of the
+# Released under the terms of the BSD 3-Clause License
+
+from setuptools import setup
+from glob import glob
+import os
+
+
+if __name__ == '__main__':
+
+    all_files = glob('./iCub/**/*.*', recursive=True)
+    data_files = [(os.path.join('share', 'icub_models', os.path.split(path)[0]),
+                   [os.path.join(os.path.split(path)[0], os.path.split(path)[1])])
+                  for path in all_files]
+
+    setup(data_files = data_files)