rewind support python 3.8

.github/workflows/publish.yml

@@ -20,7 +20,7 @@ jobs:
 
     # We don't need to run on all platforms since this package is
     # platform-agnostic. The output wheel is something like
-    # "monotonic_attention-<version>-py3-none-any.whl".
+    # "urdf2mjcf-<version>-py3-none-any.whl".
     runs-on: ubuntu-latest
 
     steps:
@@ -30,7 +30,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.10"
+          python-version: "3.8"
 
       - name: Install dependencies
         run: |
@@ -42,6 +42,3 @@ jobs:
 
       - name: Publish package
         uses: pypa/gh-action-pypi-publish@release/v1
-        # with:
-        #   user: __token__
-        #   password: ${{ secrets.PYPI_API_TOKEN }}

.github/workflows/test.yml

@@ -28,7 +28,7 @@ jobs:
       - name: Set up Python
         uses: actions/setup-python@v4
         with:
-          python-version: "3.11"
+          python-version: "3.8"
 
       - name: Restore cache
         id: restore-cache

setup.py

@@ -3,6 +3,7 @@
 """Setup script for the project."""
 
 import re
+from typing import List
 
 from setuptools import setup
 
@@ -11,11 +12,11 @@
 
 
 with open("urdf2mjcf/requirements.txt", "r", encoding="utf-8") as f:
-    requirements: list[str] = f.read().splitlines()
+    requirements: List[str] = f.read().splitlines()
 
 
 with open("urdf2mjcf/requirements-dev.txt", "r", encoding="utf-8") as f:
-    requirements_dev: list[str] = f.read().splitlines()
+    requirements_dev: List[str] = f.read().splitlines()
 
 
 with open("urdf2mjcf/__init__.py", "r", encoding="utf-8") as fh:
@@ -32,7 +33,7 @@
     url="https://github.com/kscalelabs/urdf2mjcf",
     long_description=long_description,
     long_description_content_type="text/markdown",
-    python_requires=">=3.11",
+    python_requires=">=3.8",
     install_requires=requirements,
     tests_require=requirements_dev,
     extras_require={"dev": requirements_dev},

tests/conftest.py

@@ -1,6 +1,7 @@
 """Defines PyTest configuration for the project."""
 
 import random
+from typing import List
 
 import pytest
 from _pytest.python import Function
@@ -11,5 +12,5 @@ def set_random_seed() -> None:
     random.seed(1337)
 
 
-def pytest_collection_modifyitems(items: list[Function]) -> None:
+def pytest_collection_modifyitems(items: List[Function]) -> None:
     items.sort(key=lambda x: x.get_closest_marker("slow") is not None)

urdf2mjcf/convert.py

@@ -5,6 +5,7 @@
 import tempfile
 import xml.etree.ElementTree as ET
 from pathlib import Path
+from typing import Union
 
 import mujoco
 
@@ -416,8 +417,8 @@ def add_cameras(root: ET.Element, distance: float = 3.0, height_offset: float =
 
 
 def convert_urdf_to_mjcf(
-    urdf_path: str | Path,
-    mjcf_path: str | Path | None = None,
+    urdf_path: Union[str, Path],
+    mjcf_path: Union[str, Path, None] = None,
     no_collision_mesh: bool = False,
     copy_meshes: bool = False,
     camera_distance: float = 3.0,

urdf2mjcf/utils.py

@@ -4,17 +4,19 @@
 import re
 import xml.etree.ElementTree as ET
 from pathlib import Path
-from typing import Iterator
+from typing import Iterator, Optional, Tuple, Union
 from xml.dom import minidom
 
 
 def iter_meshes(
     urdf_path: Path,
     no_collision_mesh: bool = False,
-) -> Iterator[tuple[tuple[ET.Element, Path] | tuple[None, None], tuple[ET.Element, Path] | tuple[None, None]]]:
+) -> Iterator[
+    Tuple[Union[Tuple[ET.Element, Path], Tuple[None, None]], Union[Tuple[ET.Element, Path], Tuple[None, None]]]
+]:
     urdf_tree = ET.parse(urdf_path)
 
-    def get_mesh(visual_or_collision: ET.Element | None) -> tuple[ET.Element, Path] | tuple[None, None]:
+    def get_mesh(visual_or_collision: Optional[ET.Element]) -> Union[Tuple[ET.Element, Path], Tuple[None, None]]:
         if visual_or_collision is None:
             return (None, None)
         if (geometry := visual_or_collision.find("geometry")) is None:
@@ -49,7 +51,7 @@ def get_mesh(visual_or_collision: ET.Element | None) -> tuple[ET.Element, Path]
             yield visual_mesh, collision_mesh
 
 
-def save_xml(path: str | Path | io.StringIO, tree: ET.ElementTree | ET.Element) -> None:
+def save_xml(path: Union[str, Path, io.StringIO], tree: Union[ET.ElementTree, ET.Element]) -> None:
     if isinstance(tree, ET.ElementTree):
         tree = tree.getroot()
     xmlstr = minidom.parseString(ET.tostring(tree)).toprettyxml(indent="  ")