Move load_robot_description method in _package_dirs

Author: GiulioRomualdi

robot_descriptions/_package_dirs.py

@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# Copyright 2022 Giulio Romualdi
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import os.path
+from typing import List
+
+def get_package_dirs(module) -> List[str]:
+    """
+    Get package directories for a given module.
+
+    Args:
+        module: Robot description module.
+
+    Returns:
+        Package directories.
+    """
+    return [
+        module.PACKAGE_PATH,
+        module.REPOSITORY_PATH,
+        os.path.dirname(module.PACKAGE_PATH),
+        os.path.dirname(module.REPOSITORY_PATH),
+        os.path.dirname(module.URDF_PATH),  # e.g. laikago_description
+    ]

robot_descriptions/loaders/idyntree.py

@@ -21,7 +21,7 @@
 
 from importlib import import_module  # type: ignore
 from typing import List, Optional
-from .pinocchio import get_package_dirs
+from .._package_dirs import get_package_dirs
 
 import idyntree.swig as idyn
 

robot_descriptions/loaders/pinocchio.py

@@ -19,9 +19,10 @@
 Load a robot description in Pinocchio.
 """
 
-import os.path
 from importlib import import_module  # type: ignore
-from typing import List, Optional, Union
+from typing import Optional, Union
+from .._package_dirs import get_package_dirs
+
 
 import pinocchio as pin
 
@@ -40,25 +41,6 @@
 ]
 
 
-def get_package_dirs(module) -> List[str]:
-    """
-    Get package directories for a given module.
-
-    Args:
-        module: Robot description module.
-
-    Returns:
-        Package directories.
-    """
-    return [
-        module.PACKAGE_PATH,
-        module.REPOSITORY_PATH,
-        os.path.dirname(module.PACKAGE_PATH),
-        os.path.dirname(module.REPOSITORY_PATH),
-        os.path.dirname(module.URDF_PATH),  # e.g. laikago_description
-    ]
-
-
 def load_robot_description(
     description_name: str,
     root_joint: Optional[PinocchioJoint] = None,