https://github.com/ami-iit/resolve-robotics-uri-py
Resolve a package:// or model:// URI to an absolute filename in Python.
https://github.com/ami-iit/resolve-robotics-uri-py
gazebo robotics ros ros2 sdf sdformat urdf urdf-descriptions urdf-models
Last synced: 12 days ago
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Resolve a package:// or model:// URI to an absolute filename in Python.
- Host: GitHub
- URL: https://github.com/ami-iit/resolve-robotics-uri-py
- Owner: ami-iit
- License: bsd-3-clause
- Created: 2023-08-30T20:46:27.000Z (over 1 year ago)
- Default Branch: main
- Last Pushed: 2025-03-05T21:57:14.000Z (3 months ago)
- Last Synced: 2025-05-08T02:49:11.848Z (16 days ago)
- Topics: gazebo, robotics, ros, ros2, sdf, sdformat, urdf, urdf-descriptions, urdf-models
- Language: Python
- Homepage:
- Size: 31.3 KB
- Stars: 10
- Watchers: 2
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# 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
```bash
mamba install -c conda-forge resolve-robotics-uri-py
```
### Installation from PyPI
```bash
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`](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
~~~
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](https://www.redhat.com/sysadmin/backtick-operator-vs-parens):
~~~
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](https://spdx.org/licenses/BSD-3-Clause.html)