Use absolute imports instead of relative imports

skrobot/coordinates/__init__.py

@@ -1,22 +1,22 @@
 # flake8: noqa
 
-from .base import CascadedCoords
-from .base import Coordinates
-from .base import Transform
-from .base import make_coords
-from .base import make_cascoords
+from skrobot.coordinates.base import CascadedCoords
+from skrobot.coordinates.base import Coordinates
+from skrobot.coordinates.base import Transform
+from skrobot.coordinates.base import make_coords
+from skrobot.coordinates.base import make_cascoords
 
-from .geo import convert_to_axis_vector
-from .geo import midcoords
-from .geo import midpoint
-from .geo import orient_coords_to_axis
-from .geo import rotate_points
+from skrobot.coordinates.geo import convert_to_axis_vector
+from skrobot.coordinates.geo import midcoords
+from skrobot.coordinates.geo import midpoint
+from skrobot.coordinates.geo import orient_coords_to_axis
+from skrobot.coordinates.geo import rotate_points
 
-from .math import matrix2quaternion
-from .math import quaternion2rpy
-from .math import make_matrix
-from .math import manipulability
-from .math import normalize_vector
-from .math import rpy_angle
-from .math import rpy_matrix
-from .math import sr_inverse
+from skrobot.coordinates.math import matrix2quaternion
+from skrobot.coordinates.math import quaternion2rpy
+from skrobot.coordinates.math import make_matrix
+from skrobot.coordinates.math import manipulability
+from skrobot.coordinates.math import normalize_vector
+from skrobot.coordinates.math import rpy_angle
+from skrobot.coordinates.math import rpy_matrix
+from skrobot.coordinates.math import sr_inverse

skrobot/interfaces/__init__.py

@@ -33,4 +33,4 @@ def __getattr__(name):
     raise AttributeError(f"module 'skrobot.interfaces' has no attribute '{name}'")
 
 
-from .ros import *
+from skrobot.interfaces.ros import *

skrobot/interfaces/ros/move_base.py

@@ -14,12 +14,11 @@
 from skrobot.coordinates import Coordinates
 from skrobot.coordinates.math import rotate_vector
 from skrobot.coordinates.math import rotation_distance
-
-from .base import ROSRobotInterfaceBase
-from .tf_utils import coords_to_geometry_pose
-from .tf_utils import geometry_pose_to_coords
-from .tf_utils import tf_pose_to_coords
-from .transform_listener import TransformListener
+from skrobot.interfaces.ros.base import ROSRobotInterfaceBase
+from skrobot.interfaces.ros.tf_utils import coords_to_geometry_pose
+from skrobot.interfaces.ros.tf_utils import geometry_pose_to_coords
+from skrobot.interfaces.ros.tf_utils import tf_pose_to_coords
+from skrobot.interfaces.ros.transform_listener import TransformListener
 
 
 class ROSRobotMoveBaseInterface(ROSRobotInterfaceBase):

skrobot/interfaces/ros/nextage.py

@@ -3,7 +3,7 @@
 import rospy
 import trajectory_msgs.msg
 
-from .base import ROSRobotInterfaceBase
+from skrobot.interfaces.ros.base import ROSRobotInterfaceBase
 
 
 class NextageROSRobotInterface(ROSRobotInterfaceBase):

skrobot/interfaces/ros/panda.py

@@ -2,7 +2,7 @@
 import control_msgs.msg
 import franka_gripper.msg
 
-from .base import ROSRobotInterfaceBase
+from skrobot.interfaces.ros.base import ROSRobotInterfaceBase
 
 
 WIDTH_MAX = 0.08

skrobot/interfaces/ros/pr2.py

@@ -6,8 +6,8 @@
 import pr2_controllers_msgs.msg
 import rospy
 
-from ...model import RotationalJoint
-from .move_base import ROSRobotMoveBaseInterface
+from skrobot.interfaces.ros.move_base import ROSRobotMoveBaseInterface
+from skrobot.model import RotationalJoint
 
 
 class PR2ROSRobotInterface(ROSRobotMoveBaseInterface):

skrobot/interfaces/ros2/__init__.py

@@ -1,5 +1,5 @@
-from .base import ROS2RobotInterfaceBase
-from .panda import PandaROS2RobotInterface
+from skrobot.interfaces.ros2.base import ROS2RobotInterfaceBase
+from skrobot.interfaces.ros2.panda import PandaROS2RobotInterface
 
 
 __all__ = ['ROS2RobotInterfaceBase', 'PandaROS2RobotInterface']

skrobot/interfaces/ros2/panda.py

@@ -2,7 +2,7 @@
 import rclpy
 from rclpy.action import ActionClient
 
-from .base import ROS2RobotInterfaceBase
+from skrobot.interfaces.ros2.base import ROS2RobotInterfaceBase
 
 
 try:

skrobot/models/fetch.py

@@ -4,8 +4,7 @@
 from skrobot.coordinates import CascadedCoords
 from skrobot.data import fetch_urdfpath
 from skrobot.model import RobotModel
-
-from .urdf import RobotModelFromURDF
+from skrobot.models.urdf import RobotModelFromURDF
 
 
 class Fetch(RobotModelFromURDF):

skrobot/models/kuka.py

@@ -4,8 +4,7 @@
 from skrobot.coordinates import CascadedCoords
 from skrobot.data import kuka_urdfpath
 from skrobot.model import RobotModel
-
-from .urdf import RobotModelFromURDF
+from skrobot.models.urdf import RobotModelFromURDF
 
 
 class Kuka(RobotModelFromURDF):

skrobot/models/nextage.py

@@ -1,10 +1,10 @@
 from cached_property import cached_property
 import numpy as np
 
-from ..coordinates import CascadedCoords
-from ..data import nextage_urdfpath
-from ..model import RobotModel
-from .urdf import RobotModelFromURDF
+from skrobot.coordinates import CascadedCoords
+from skrobot.data import nextage_urdfpath
+from skrobot.model import RobotModel
+from skrobot.models.urdf import RobotModelFromURDF
 
 
 class Nextage(RobotModelFromURDF):

skrobot/models/panda.py

@@ -1,10 +1,10 @@
 from cached_property import cached_property
 import numpy as np
 
-from ..coordinates import CascadedCoords
-from ..data import panda_urdfpath
-from ..model import RobotModel
-from .urdf import RobotModelFromURDF
+from skrobot.coordinates import CascadedCoords
+from skrobot.data import panda_urdfpath
+from skrobot.model import RobotModel
+from skrobot.models.urdf import RobotModelFromURDF
 
 
 class Panda(RobotModelFromURDF):

skrobot/models/pr2.py

@@ -4,8 +4,7 @@
 from skrobot.coordinates import CascadedCoords
 from skrobot.data import pr2_urdfpath
 from skrobot.model import RobotModel
-
-from .urdf import RobotModelFromURDF
+from skrobot.models.urdf import RobotModelFromURDF
 
 
 class PR2(RobotModelFromURDF):

skrobot/models/urdf.py

@@ -1,4 +1,4 @@
-from ..model import RobotModel
+from skrobot.model import RobotModel
 
 
 class RobotModelFromURDF(RobotModel):

skrobot/sdf/__init__.py

@@ -1,10 +1,10 @@
 # flake8: noqa
 
-from .signed_distance_function import BoxSDF
-from .signed_distance_function import CylinderSDF
-from .signed_distance_function import GridSDF
-from .signed_distance_function import SignedDistanceFunction
-from .signed_distance_function import SphereSDF
-from .signed_distance_function import UnionSDF
+from skrobot.sdf.signed_distance_function import BoxSDF
+from skrobot.sdf.signed_distance_function import CylinderSDF
+from skrobot.sdf.signed_distance_function import GridSDF
+from skrobot.sdf.signed_distance_function import SignedDistanceFunction
+from skrobot.sdf.signed_distance_function import SphereSDF
+from skrobot.sdf.signed_distance_function import UnionSDF
 
-from .signed_distance_function import trimesh2sdf
+from skrobot.sdf.signed_distance_function import trimesh2sdf

skrobot/urdf/__init__.py

@@ -1,14 +1,14 @@
-from .aggregate import aggregate_urdf_mesh_files
-from .extract_sub_urdf import extract_sub_urdf
-from .modularize_urdf import find_root_link
-from .modularize_urdf import transform_urdf_to_macro
-from .primitives_converter import convert_meshes_to_primitives
-from .scale_urdf import scale_urdf
-from .transform_urdf import transform_urdf_with_world_link
-from .wheel_collision_converter import convert_wheel_collisions_to_cylinders
-from .wheel_collision_converter import get_mesh_dimensions
-from .xml_root_link_changer import change_urdf_root_link
-from .xml_root_link_changer import URDFXMLRootLinkChanger
+from skrobot.urdf.aggregate import aggregate_urdf_mesh_files
+from skrobot.urdf.extract_sub_urdf import extract_sub_urdf
+from skrobot.urdf.modularize_urdf import find_root_link
+from skrobot.urdf.modularize_urdf import transform_urdf_to_macro
+from skrobot.urdf.primitives_converter import convert_meshes_to_primitives
+from skrobot.urdf.scale_urdf import scale_urdf
+from skrobot.urdf.transform_urdf import transform_urdf_with_world_link
+from skrobot.urdf.wheel_collision_converter import convert_wheel_collisions_to_cylinders
+from skrobot.urdf.wheel_collision_converter import get_mesh_dimensions
+from skrobot.urdf.xml_root_link_changer import change_urdf_root_link
+from skrobot.urdf.xml_root_link_changer import URDFXMLRootLinkChanger
 
 
 __all__ = [

skrobot/urdf/transform_urdf.py

@@ -2,7 +2,7 @@
 import os
 import xml.etree.ElementTree as ET
 
-from .modularize_urdf import find_root_link
+from skrobot.urdf.modularize_urdf import find_root_link
 
 
 def transform_urdf_with_world_link(input_file, output_file,

skrobot/viewers/_notebook.py

@@ -5,7 +5,7 @@
 import numpy as np
 import trimesh
 
-from .. import model as model_module
+from skrobot import model as model_module
 
 
 class JupyterNotebookViewer(object):

skrobot/viewers/_pyrender.py

@@ -40,10 +40,9 @@
 from trimesh import transformations
 from trimesh.scene import cameras
 
+from skrobot import model as model_module
 from skrobot.coordinates import Coordinates
 
-from .. import model as model_module
-
 
 def _redraw_all_windows():
     try:

skrobot/viewers/_trimesh.py

@@ -13,7 +13,7 @@
 import trimesh.viewer
 from trimesh.viewer.trackball import Trackball
 
-from .. import model as model_module
+from skrobot import model as model_module
 
 
 logger = logging.getLogger('trimesh')