Update CLI interface and show command to show_in_yourdfpy

Author: stephane-caron

README.md

@@ -52,6 +52,16 @@ Loaders are implemented for the following robotics software:
 
 Loading will automatically download the robot description if needed, and cache it to a local directory.
 
+### Show a description
+
+You can display a robot description directly from the command line:
+
+```console
+python -m robot_descriptions show_in_meshcat go2_description
+```
+
+A `robot_descriptions` alias for `python -m robot_descriptions` is also available.
+
 ### Import as submodule
 
 You can also import a robot description directly as a submodule of `robot_descriptions`:
@@ -104,14 +114,6 @@ Visualizing a robot description:
 - [RoboMeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_robomeshcat.py)
 - [yourdfpy](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_yourdfpy.py)
 
-## Command line tool
-
-The command line tool can be used to visualize any of the robot descriptions below. For example:
-
-```console
-robot_descriptions show solo_description
-```
-
 ## Descriptions
 
 Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:

pyproject.toml

@@ -42,7 +42,7 @@ opts = [
 ]
 
 [project.scripts]
-robot_descriptions = "robot_descriptions._command_line:main"
+robot_descriptions = "robot_descriptions.__main__:main"
 
 [project.urls]
 Homepage = "https://github.com/robot-descriptions"

robot_descriptions/__main__.py

@@ -48,9 +48,9 @@ def get_argument_parser() -> argparse.ArgumentParser:
         help="list all available robot descriptions",
     )
 
-    # show --------------------------------------------------------------------
+    # show_in_yourdfpy --------------------------------------------------------
     parser_show = subparsers.add_parser(
-        "show",
+        "show_in_yourdfpy",
         help="load and display a given robot description",
     )
     parser_show.add_argument(
@@ -96,7 +96,7 @@ def list_descriptions():
         print(f"- {name} [{formats}]")
 
 
-def show(
+def show_in_yourdfpy(
     name: str,
     configuration: List[float],
     collision: bool,
@@ -114,8 +114,8 @@ def show(
         module = import_module(f"robot_descriptions.{name}_description")
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(
-            "show command only applies to URDF, check out the "
-            "`show_in_mujoco.py` example for MJCF descriptions"
+            "This command only works with URDF descriptions, use "
+            "`show_in_mujoco` for MJCF descriptions"
         )
 
     try:
@@ -156,7 +156,7 @@ def animate(name: str) -> None:
     if not hasattr(module, "URDF_PATH"):
         raise ValueError(
             "animation is only available for URDF descriptions, "
-            "check out the ``show_in_mujoco.py`` example for MJCF"
+            "check out the `show_in_mujoco.py` example for MJCF"
         )
 
     print(
@@ -172,9 +172,13 @@ def main(argv=None):
     args = parser.parse_args(argv)
     if args.subcmd == "list":
         list_descriptions()
-    elif args.subcmd == "show":
-        show(args.name, args.configuration, args.collision)
+    elif args.subcmd == "show_in_yourdfpy":
+        show_in_yourdfpy(args.name, args.configuration, args.collision)
     elif args.subcmd == "animate":
         animate(args.name)
     else:  # no subcommand
         parser.print_help()
+
+
+if __name__ == "__main__":
+    main()

robot_descriptions/_cache.py

@@ -43,7 +43,7 @@ def update(
             op_code: Integer that can be compared against Operation IDs and
                 stage IDs.
             cur_count: Current item count.
-            max_count: Maximum item count, or ``None`` if there is none.
+            max_count: Maximum item count, or `None` if there is none.
             message: Unused here.
         """
         self.progress.total = max_count
@@ -112,8 +112,8 @@ def clone_to_cache(description_name: str, commit: Optional[str] = None) -> str:
 
     Notes:
         By default, robot descriptions are cached to
-        ``~/.cache/robot_descriptions``. This behavior can be overriden by
-        setting the ``ROBOT_DESCRIPTIONS_CACHE`` environment variable to an
+        `~/.cache/robot_descriptions`. This behavior can be overriden by
+        setting the `ROBOT_DESCRIPTIONS_CACHE` environment variable to an
         alternative path.
     """
     try: