Use requirements.txt to install python dependencies (#151)

Co-authored-by: Mathias Lüdtke <mathias.luedtke@pal-robotics.com>
Co-authored-by: Erik Holum <erik.holum@nasa.gov>

Author: 3 people

mujoco_ros2_control/CMakeLists.txt

@@ -239,6 +239,11 @@ install(
   USE_SOURCE_PERMISSIONS
 )
 
+install(
+  FILES scripts/requirements.txt
+  DESTINATION share/${PROJECT_NAME}
+)
+
 pluginlib_export_plugin_description_file(hardware_interface mujoco_system_interface_plugin.xml)
 
 if(BUILD_TESTING)

mujoco_ros2_control/package.xml

@@ -28,7 +28,6 @@
   <depend>libglfw3-dev</depend>
   <depend>mujoco_vendor</depend>
   <depend>pluginlib</depend>
-  <depend>python3-pykdl</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>rclcpp</depend>
   <depend>sensor_msgs</depend>
@@ -39,6 +38,11 @@
   <test_depend>ament_cmake_gtest</test_depend>
   <test_depend>ament_cmake_pytest</test_depend>
 
+  <exec_depend>ament_index_python</exec_depend>
+  <exec_depend>python3-importlib-resources</exec_depend>
+  <exec_depend>python3-pykdl</exec_depend>
+  <exec_depend>python3-numpy</exec_depend>
+  <exec_depend>urdfdom_py</exec_depend>
   <exec_depend>python3-venv</exec_depend>
   <exec_depend>python3-pip</exec_depend>
 

mujoco_ros2_control/scripts/requirements.txt

@@ -0,0 +1,16 @@
+absl-py==2.4.0
+coacd==1.0.7
+docstring_parser==0.17.0
+etils==1.13.0
+fsspec==2026.2.0
+glfw==2.10.0
+lxml==6.0.2
+mujoco==3.6.0
+obj2mjcf==0.0.25
+pillow==12.1.1
+PyOpenGL==3.1.10
+termcolor==3.3.0
+trimesh==4.11.4
+typeguard==4.5.1
+typing_extensions==4.15.0
+tyro==1.0.10

mujoco_ros2_control/scripts/robot_description_to_mjcf.sh

@@ -45,9 +45,9 @@ function check_dependencies() {
     fi
     # check if the dependencies trimesh, mujoco, obj2mjcf and scipy are installed, if not install them
     if ! python3 -c "import trimesh; import mujoco; import obj2mjcf" &> /dev/null; then
-        echo "Dependencies not found. Installing trimesh, mujoco, obj2mjcf, scipy...."
+        echo "Dependencies not found. Installing from requirements.txt...."
         start_time=$(date +%s)
-        pip3 install --no-input --no-cache-dir --disable-pip-version-check trimesh mujoco obj2mjcf
+        pip3 install --no-input --no-cache-dir --disable-pip-version-check -r "$(dirname "${BASH_SOURCE[0]}")/requirements.txt"
         end_time=$(date +%s)
         echo "Successfully installed dependencies in $((end_time - start_time)) seconds."
     fi
@@ -64,4 +64,4 @@ if [[ "$*" == *"--install-only"* ]]; then
 fi
 
 # Get all the arguments of the bash script and then forward it to the make_mjcf_from_robot_description.py script
-exec python3 "$(dirname "$0")/make_mjcf_from_robot_description.py" "$@"
+exec python3 "$(dirname "${BASH_SOURCE[0]}")/make_mjcf_from_robot_description.py" "$@"