build: migrate env_manager, rbs_gym, rbs_runtime to ament_python

Migrate `env_manager`, `rbs_gym`, and `rbs_runtime` from ament_cmake to ament_python.
Removed unnecessary files including .json and .yaml config files

env_manager/rbs_runtime/CMakeLists.txt

@@ -1,36 +0,0 @@
-cmake_minimum_required(VERSION 3.8)
-project(rbs_runtime)
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> REQUIRED)
-
-ament_python_install_package(${PROJECT_NAME})
-
-
-install(PROGRAMS
-  scripts/runtime.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the linter which checks for copyrights
-  # comment the line when a copyright and license is added to all source files
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  # comment the line when this package is in a git repo and when
-  # a copyright and license is added to all source files
-  set(ament_cmake_cpplint_FOUND TRUE)
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
-
-ament_package()

env_manager/rbs_runtime/config/scene_config.yaml

@@ -1,139 +0,0 @@
-robot:
-  name: rbs_arm
-  urdf_string: ""
-  spawn_position:
-    - 0.0
-    - 0.0
-    - 0.0
-  spawn_quat_xyzw:
-    - 0.0
-    - 0.0
-    - 0.0
-    - 1.0
-  joint_positioins:
-    - 0
-    - 0
-    - 0
-    - 0
-    - 0
-    - 0
-  with_gripper: true
-  gripper_jont_positions:
-    - 0
-  randomizer:
-    pose: false
-    spawn_volume:
-      - 1.0
-      - 1.0
-      - 0.0
-    joint_positions: false
-    joint_positions_std: 0.1
-    joint_positions_above_object_spawn: false
-    joint_positions_above_object_spawn_elevation: 0.2
-    joint_positions_above_object_spawn_xy_randomness: 0.2
-
-terrain:
-  type: flat
-  spawn_position:
-    - 0
-    - 0
-    - 0
-  spawn_quat_xyzw:
-    - 0
-    - 0
-    - 0
-    - 1
-  size:
-    - 1.5
-    - 1.5
-  model_rollouts_num: 1
-
-light:
-  type: sun
-  direction:
-    - 0.5
-    - -0.25
-    - -0.75
-  random_minmax_elevation:
-    - -0.15
-    - -0.65
-  color:
-    - 1.0
-    - 1.0
-    - 1.0
-    - 1.0
-  distance: 1000.0
-  visual: true
-  radius: 25.0
-  model_rollouts_num: 1
-
-objects:
-  - name: bishop
-    type: ""
-    relative_to: world
-    position:
-      - 0.0
-      - 0.0
-      - 0.0
-    orientation:
-      - 1.0
-      - 0.0
-      - 0.0
-      - 0.0
-    static: false
-    randomize:
-      count: 0
-      random_pose: false
-      random_position: false
-      random_orientation: false
-      random_model: false
-      random_spawn_position_segments: []
-      random_spawn_position_update_workspace_centre: false
-      random_spawn_volume:
-        - 0.5
-        - 0.5
-        - 0.5
-      models_rollouts_num: 0
-    texture: []
-
-camera:
-  - name: robot_camera
-    enable: true
-    type: rgbd_camera
-    relative_to: base_link
-    width: 128
-    height: 128
-    image_format: R8G8B8
-    update_rate: 10
-    horizontal_fov: 1.0471975511965976
-    vertical_fov: 1.0471975511965976
-    clip_color:
-      - 0.01
-      - 1000.0
-    clip_depth:
-      - 0.05
-      - 10.0
-    noise_mean: null
-    noise_stddev: null
-    publish_color: false
-    publish_depth: false
-    publish_points: false
-    spawn_position:
-      - 0
-      - 0
-      - 1
-    spawn_quat_xyzw:
-      - 0
-      - 0.70710678118
-      - 0
-      - 0.70710678118
-    random_pose_rollouts_num: 1
-    random_pose_mode: orbit
-    random_pose_orbit_distance: 1.0
-    random_pose_orbit_height_range:
-      - 0.1
-      - 0.7
-    random_pose_orbit_ignore_arc_behind_robot: 0.39269908169872414
-    random_pose_select_position_options: []
-    random_pose_focal_point_z_offset: 0.0
-    random_pose_rollout_counter: 0.0

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -100,7 +100,7 @@ def launch_setup(context, *args, **kwargs):
 
     rbs_runtime = Node(
         package="rbs_runtime",
-        executable="runtime.py",
+        executable="runtime",
         parameters=[robot_description, {"use_sim_time": True}],
     )
 

env_manager/rbs_runtime/package.xml

@@ -7,12 +7,12 @@
   <maintainer email="ur.narmak@gmail.com">narmak</maintainer>
   <license>Apache-2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

env_manager/rbs_runtime/rbs_runtime/scripts/runtime.py

@@ -22,8 +22,8 @@ DEFAULT_SCENE: SceneData = SceneData(
     robot=RobotData(
         name="rbs_arm",
         with_gripper=True,
-        joint_positions=[0, 0, 0, 0, 0, 0, 0],
-        gripper_joint_positions=[0],
+        joint_positions=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+        gripper_joint_positions=0.0,
     ),
     objects=[MeshObjectData("bishop", position=(0.0, 1.0, 0.3))],
     camera=[CameraData("robot_camera")],

env_manager/rbs_runtime/scripts/asdict.py

@@ -1,17 +0,0 @@
-from env_manager.models.configs import SceneData, RobotData, MeshObjectData, CameraData
-from dataclasses import asdict
-import json
-
-scene: SceneData = SceneData(
-    robot=RobotData(
-        name="rbs_arm",
-        with_gripper=True,
-        joint_positions=[0, 0, 0, 0, 0, 0, 0],
-        gripper_joint_positions=[0],
-    ),
-    objects=[MeshObjectData("bishop", position=(0.0, 1.0, 0.3))],
-    camera=[CameraData("robot_camera")],
-)
-
-with open("scene_config.json", "w") as file:
-    json.dump(asdict(scene), file)

env_manager/rbs_runtime/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/rbs_runtime
+[install]
+install_scripts=$base/lib/rbs_runtime

env_manager/rbs_runtime/setup.py

@@ -0,0 +1,32 @@
+import os
+from glob import glob
+
+from setuptools import find_packages, setup
+
+package_name = "rbs_runtime"
+
+setup(
+    name=package_name,
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
+    data_files=[
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
+        (
+            os.path.join("share", package_name, "launch"),
+            glob(os.path.join("launch", "*launch.[pxy][yma]*")),
+        ),
+    ],
+    install_requires=["setuptools"],
+    zip_safe=True,
+    maintainer="narmak",
+    maintainer_email="ur.narmak@gmail.com",
+    description="TODO: Package description",
+    license="Apache-2.0",
+    tests_require=["pytest"],
+    entry_points={
+        "console_scripts": [
+            "runtime = rbs_runtime.scripts.runtime:main",
+        ],
+    },
+)

env_manager/rbs_runtime/test/test_copyright.py

@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'

env_manager/rbs_runtime/test/test_flake8.py

@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)

env_manager/rbs_runtime/test/test_pep257.py

@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# 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.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'