humalab 0.0.1__py3-none-any.whl

humalab/__init__.py

@@ -0,0 +1,9 @@
+from humalab_sdk.humalab import init, finish, login
+from humalab_sdk.run import Run
+
+__all__ = [
+    "init",
+    "finish",
+    "login",
+    "Run",
+]

humalab/assets/archive.py

@@ -0,0 +1,101 @@
+import shutil
+import zipfile
+import tarfile
+import gzip
+import bz2
+import lzma
+from pathlib import Path
+
+
+try:
+    import py7zr        # for .7z
+except ImportError:
+    py7zr = None
+
+try:
+    import rarfile      # for .rar
+except ImportError:
+    rarfile = None
+
+
+# ---------- Detection ---------------------------------------------------------
+def detect_archive_type(path: str | Path) -> str:
+    """Return a simple string label for the archive type, else 'unknown'."""
+    p = Path(path).with_suffix("").name.lower()  # strip double-suffix like .tar.gz
+    ext = Path(path).suffix.lower()
+
+    if ext == ".zip":
+        return "zip"
+    if ext in {".tar"}:
+        return "tar"
+    if ext in {".gz"} and p.endswith(".tar"):
+        return "tar.gz"
+    if ext in {".bz2"} and p.endswith(".tar"):
+        return "tar.bz2"
+    if ext in {".xz"} and p.endswith(".tar"):
+        return "tar.xz"
+    if ext == ".gz":
+        return "gzip"
+    if ext == ".bz2":
+        return "bzip2"
+    if ext == ".xz":
+        return "xz"
+    if ext == ".7z":
+        return "7z"
+    if ext == ".rar":
+        return "rar"
+    return "unknown"
+
+
+def _extract_stream(open_func, path: Path, out_dir: Path):
+    """Helper for single-file compressed streams (.gz, .bz2, .xz)."""
+    out_dir.mkdir(parents=True, exist_ok=True)
+    out_file = out_dir / path.with_suffix("").name
+    with open_func(path, "rb") as f_in, open(out_file, "wb") as f_out:
+        shutil.copyfileobj(f_in, f_out)
+
+
+# ---------- Extraction --------------------------------------------------------
+def extract_archive(path: str | Path, out_dir: str | Path) -> None:
+    """Detect the archive type and extract it into out_dir."""
+    path, out_dir = Path(path), Path(out_dir)
+    archive_type = detect_archive_type(path)
+
+    match archive_type:
+        # --- ZIP
+        case "zip":
+            with zipfile.ZipFile(path) as zf:
+                zf.extractall(out_dir)
+
+        # --- tar.* (auto-deduces compression)
+        case "tar" | "tar.gz" | "tar.bz2" | "tar.xz":
+            with tarfile.open(path, mode="r:*") as tf:
+                tf.extractall(out_dir)
+
+        # --- single-file streams
+        case "gzip":
+            _extract_stream(gzip.open, path, out_dir)
+        case "bzip2":
+            _extract_stream(bz2.open, path, out_dir)
+        case "xz":
+            _extract_stream(lzma.open, path, out_dir)
+
+        # --- 7-Zip
+        case "7z":
+            if py7zr is None:
+                raise ImportError("py7zr not installed - run `pip install py7zr`")
+            with py7zr.SevenZipFile(path, mode="r") as z:
+                z.extractall(path=out_dir)
+
+        # --- RAR
+        case "rar":
+            if rarfile is None:
+                raise ImportError("rarfile not installed - run `pip install rarfile`")
+            if not rarfile.is_rarfile(path):
+                raise rarfile.BadRarFile(f"{path} is not a valid RAR archive")
+            with rarfile.RarFile(path) as rf:
+                rf.extractall(out_dir)
+
+        # --- fallback
+        case _:
+            raise ValueError(f"Unsupported or unknown archive type: {archive_type}")

humalab/assets/resource_file.py

@@ -0,0 +1,28 @@
+
+
+class ResourceFile:
+    def __init__(self, 
+                 name: str, 
+                 version: int, 
+                 resource_type: str, 
+                 filepath: str):
+        self._name = name
+        self._version = version
+        self._resource_type = resource_type
+        self._filepath = filepath
+
+    @property
+    def name(self) -> str:
+        return self._name
+    
+    @property
+    def version(self) -> int:
+        return self._version
+    
+    @property
+    def resource_type(self) -> str:
+        return self._resource_type
+    
+    @property
+    def filepath(self) -> str:
+        return self._filepath

humalab/assets/resource_handler.py

@@ -0,0 +1,175 @@
+import mongoengine as me
+from minio import Minio
+import os
+import glob
+import tempfile
+import trimesh
+from humalab_service.humalab_host import HumaLabHost
+from humalab_service.services.stores.obj_store import ObjStore
+from humalab_service.services.stores.namespace import ObjectType
+from humalab_service.db.resource import ResourceDocument
+from humalab_sdk.assets.archive import extract_archive
+
+
+ASSET_TYPE_TO_EXTENSIONS = {
+    "urdf": {"urdf"},
+    "mjcf": {"xml"},
+    "mesh": trimesh.available_formats(),
+    "usd": {"usd"},
+    "controller": {"py"},
+    "global_controller": {"py"},
+    "terminator": {"py"},
+    "data": {},
+}
+
+class ResourceHandler:
+    def __init__(self, working_path: str=tempfile.gettempdir()):
+        self._minio_client = Minio(
+            HumaLabHost.get_minio_service_address(),
+            access_key="humalab",
+            secret_key="humalab123",
+            secure=False
+        )
+        self._obj_store = ObjStore(self._minio_client)
+        self.working_path_root = working_path
+
+    def search_resource_file(self, resource_filename: str | None, working_path: str, morph_type: str) -> str | None:
+        found_filename = None
+        if resource_filename:
+            search_path = os.path.join(working_path, "**")
+            search_pattern = os.path.join(search_path, resource_filename)
+            files = glob.glob(search_pattern, recursive=True)
+            if len(files) > 0:
+                found_filename = files[0]
+        
+        if found_filename is None:
+            for ext in ASSET_TYPE_TO_EXTENSIONS[morph_type]:
+                search_pattern = os.path.join(working_path, "**", f"*.{ext}")
+                files = glob.glob(search_pattern, recursive=True)
+                if len(files) > 0:
+                    found_filename = files[0]
+                    break
+        return found_filename
+    
+    def _save_file(self, filepath: str, data: bytes) -> str:
+        os.makedirs(os.path.dirname(filepath), exist_ok=True)
+        with open(filepath, "wb") as f:
+            f.write(data)
+        return filepath
+
+    def _save_and_extract(self, working_path: str, local_filepath: str, file_content: bytes, file_type: str):
+        os.makedirs(working_path, exist_ok=True)
+        saved_filepath = self._save_file(local_filepath, file_content)
+        _, ext = os.path.splitext(saved_filepath)
+        ext = ext.lstrip('.')  # Remove leading dot
+        if ext not in ASSET_TYPE_TO_EXTENSIONS[file_type]:
+            extract_archive(saved_filepath, working_path)
+            try:
+                os.remove(saved_filepath)
+            except Exception as e:
+                print(f"Error removing saved file {saved_filepath}: {e}")
+
+    def save_file(self,
+                  resource_name: str,
+                  resource_version: int,
+                  object_type: ObjectType,
+                  file_content: bytes,
+                  file_url: str,
+                  resource_type: str,
+                  filename: str | None = None) -> str:
+        working_path = self.get_working_path(object_type, resource_name, resource_version)
+        local_filepath = os.path.join(working_path, os.path.basename(file_url))
+        local_filename = None
+        if os.path.exists(os.path.dirname(working_path)):
+            # if directory exists, try to search for the file
+            local_filename = self.search_resource_file(filename, working_path, resource_type)
+        if local_filename is None:
+            # if not found, save the file and extract the archive,
+            # then search for the file again
+            self._save_and_extract(working_path, local_filepath, file_content, resource_type)
+            local_filename = self.search_resource_file(filename, working_path, resource_type)
+        if local_filename is None:
+            # if still not found, raise an error
+            raise ValueError(f"Resource filename {filename} not found in {working_path}")
+        return local_filename
+
+    def get_working_path(self, obj_type: ObjectType, uuid: str, version: int) -> str:
+        return os.path.join(self.working_path_root, "humalab", obj_type.value, uuid + "_" + str(version))
+
+    def query_and_download_resource(self, resource_name: str, resource_version: int | None = None) -> tuple[str, str]:
+        """ Query the resource from the database and download it from the object store.
+        Args:
+            resource_name (str): The name of the resource.
+            resource_version (int | None): The version of the resource. If None, the latest version will be used.
+        Returns:
+            tuple[str, str]: A tuple containing the local filename of the resource and the working directory
+                where the resource was downloaded and extracted.
+        """
+        me.connect("humalab", host=f"mongodb://{HumaLabHost.get_mongodb_service_address()}")
+        if resource_version is None:
+            resource = ResourceDocument.objects(name=resource_name.strip(), latest=True).first()
+        else:
+            resource = ResourceDocument.objects(name=resource_name.strip(), version=resource_version).first()
+        if resource is None:
+            raise ValueError(f"Resource {resource_name}:{resource_version} not found")
+        return self.download_resource(resource.name, resource.version, resource.file_url, resource.resource_type.value, resource.filename)
+
+    def download_resource(self,
+                           resource_name: str,
+                           resource_version: int,
+                           resource_url: str,
+                           resource_type: str,
+                           resource_filename: str | None = None) -> tuple[str, str]:
+        """ Download a resource from the object store.
+        Args:
+            resource_name (str): The name of the resource.
+            resource_version (int): The version of the resource.
+            resource_url (str): The URL of the resource in the object store.
+            resource_type (str): The type of the resource (e.g., "urdf", "mjcf", "mesh", etc.).
+            resource_filename (str | None): The specific filename to search for within the resource directory. If None, the first file found will be used.
+        Returns:
+            tuple[str, str]: A tuple containing the local filename of the resource and the working directory
+                where the resource was downloaded and extracted.
+        """
+        return self._download_resource(resource_name,
+                                       resource_version,
+                                       ObjectType.RESOURCE,
+                                       resource_url,
+                                       resource_type,
+                                       resource_filename)
+
+    def _download_resource(self,
+                       resource_name: str,
+                       resource_version: int,
+                       object_type: ObjectType,
+                       resource_url: str,
+                       resource_type: str,
+                       resource_filename: str | None = None) -> tuple[str, str]:
+        """
+        Download an asset from the object store and extract it if necessary.
+
+        Args:
+            asset_uuid (str): The UUID of the asset.
+            asset_version (int): The version of the asset.
+            asset_type (ObjectType): The type of the asset (e.g., URDF, MJCF, Mesh, etc.).
+            asset_url (str): The URL of the asset in the object store.
+            asset_file_type (str): The type of the asset file (e.g., "urdf", "mjcf", "mesh", etc.).
+            asset_filename (str | None): The specific filename to search for within the asset directory. If None, the first file found will be used.
+
+        Returns:
+            tuple[str, str]: A tuple containing the local filename of the asset and the working directory
+                where the asset was downloaded and extracted.
+        """
+        working_path = self.get_working_path(object_type, resource_name, resource_version)
+        local_filepath = os.path.join(working_path, os.path.basename(resource_url))
+        if not os.path.exists(working_path):
+            os.makedirs(working_path, exist_ok=True)
+            self._obj_store.download_file(object_type, resource_url, local_filepath)
+            _, ext = os.path.splitext(resource_url)
+            ext = ext.lower().lstrip('.')
+            if ext not in ASSET_TYPE_TO_EXTENSIONS[resource_type]:
+                extract_archive(local_filepath, working_path)
+        local_filename = self.search_resource_file(resource_filename, working_path, resource_type)
+        if local_filename is None:
+            raise ValueError(f"Resource filename {resource_filename} not found in {working_path}")
+        return local_filename, working_path

humalab/constants.py

@@ -0,0 +1,7 @@
+from enum import Enum
+
+class EpisodeStatus(Enum):
+    PASS = "pass"
+    FAILED = "failed"
+    CANCELED = "canceled"
+    ERROR = "error"

humalab/dists/__init__.py

@@ -0,0 +1,17 @@
+from .bernoulli import Bernoulli
+from .categorical import Categorical
+from .discrete import Discrete
+from .gaussian import Gaussian
+from .log_uniform import LogUniform
+from .truncated_gaussian import TruncatedGaussian
+from .uniform import Uniform
+
+__all__ = [
+    "Bernoulli",
+    "Categorical",
+    "Discrete",
+    "LogUniform",
+    "Gaussian",
+    "TruncatedGaussian",
+    "Uniform",
+]

humalab/dists/bernoulli.py

@@ -0,0 +1,44 @@
+from humalab_sdk.dists.distribution import Distribution
+
+from typing import Any
+import numpy as np
+
+class Bernoulli(Distribution):
+    def __init__(self,
+                 generator: np.random.Generator,
+                 p: float | Any,
+                 size: int | tuple[int, ...] | None = None) -> None:
+        """
+        Initialize the Bernoulli distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            p (float | Any): The probability of success.
+            size (int | tuple[int, ...] | None): The size of the output.
+        """
+        super().__init__(generator=generator)
+        self._p = p
+        self._size = size
+
+    def _sample(self) -> int | float | np.ndarray:
+        return self._generator.binomial(n=1, p=self._p, size=self._size)
+
+    def __repr__(self) -> str:
+        return f"Bernoulli(p={self._p}, size={self._size})"
+    
+    @staticmethod
+    def create(generator: np.random.Generator, 
+               p: float | Any, 
+               size: int | tuple[int, ...] | None = None) -> 'Bernoulli':
+        """
+        Create a Bernoulli distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            p (float | Any): The probability of success.
+            size (int | tuple[int, ...] | None): The size of the output.
+
+        Returns:
+            Bernoulli: The created Bernoulli distribution.
+        """
+        return Bernoulli(generator=generator, p=p, size=size)

humalab/dists/categorical.py

@@ -0,0 +1,49 @@
+from humalab_sdk.dists.distribution import Distribution
+
+import numpy as np
+
+class Categorical(Distribution):
+    def __init__(self,
+                 generator: np.random.Generator,
+                 choices: list, 
+                 weights: list[float] | None = None,
+                 size: int | tuple[int, ...] | None = None) -> None:
+        """
+        Initialize the categorical distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            choices (list): The list of choices.
+            weights (list[float] | None): The weights for each choice.
+            size (int | tuple[int, ...] | None): The size of the output.
+        """
+        super().__init__(generator=generator)
+        self._choices = choices
+        self._size = size
+        self._weights = weights
+
+    def _sample(self) -> int | float | np.ndarray:
+        return self._generator.choice(self._choices, size=self._size, p=self._weights)
+
+    def __repr__(self) -> str:
+        return f"Categorical(choices={self._choices}, size={self._size}, weights={self._weights})"
+    
+    @staticmethod
+    def create(generator: np.random.Generator, 
+               choices: list, 
+               weights: list[float] | None = None,
+               size: int | tuple[int, ...] | None = None
+               ) -> 'Categorical':
+        """
+        Create a categorical distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            choices (list): The list of choices.
+            size (int | tuple[int, ...] | None): The size of the output.
+            weights (list[float] | None): The weights for each choice.
+
+        Returns:
+            Categorical: The created categorical distribution.
+        """
+        return Categorical(generator=generator, choices=choices, size=size, weights=weights)

humalab/dists/discrete.py

@@ -0,0 +1,56 @@
+from humalab_sdk.dists.distribution import Distribution
+from typing import Any
+
+import numpy as np
+
+class Discrete(Distribution):
+    def __init__(self, 
+                 generator: np.random.Generator,
+                 low: int | Any, 
+                 high: int | Any,
+                 endpoint: bool | None = None,
+                 size: int | tuple[int, ...] | None = None,
+                 ) -> None:
+        """
+        Initialize the discrete distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            low (int | Any): The lower bound (inclusive).
+            high (int | Any): The upper bound (exclusive).
+            endpoint (bool | None): Whether to include the endpoint.
+            size (int | tuple[int, ...] | None): The size of the output.
+        """
+        super().__init__(generator=generator)
+        self._low = np.array(low)
+        self._high = np.array(high)
+        self._size = size
+        self._endpoint = endpoint if endpoint is not None else True
+
+    def _sample(self) -> int | float | np.ndarray:
+        return self._generator.integers(self._low, self._high, size=self._size, endpoint=self._endpoint)
+
+    def __repr__(self) -> str:
+        return f"Discrete(low={self._low}, high={self._high}, size={self._size}, endpoint={self._endpoint})"
+    
+    @staticmethod
+    def create(generator: np.random.Generator, 
+               low: int | Any, 
+               high: int | Any, 
+               endpoint: bool = True,
+               size: int | tuple[int, ...] | None = None, 
+               ) -> 'Discrete':
+        """
+        Create a discrete distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            low (int | Any): The lower bound (inclusive).
+            high (int | Any): The upper bound (exclusive).
+            endpoint (bool): Whether to include the endpoint.
+            size (int | tuple[int, ...] | None): The size of the output.
+
+        Returns:
+            Discrete: The created discrete distribution.
+        """
+        return Discrete(generator=generator, low=low, high=high, size=size, endpoint=endpoint)

humalab/dists/distribution.py

@@ -0,0 +1,38 @@
+from abc import ABC, abstractmethod
+
+import numpy as np
+
+class Distribution(ABC):
+    def __init__(self,
+                 generator: np.random.Generator) -> None:
+        """
+        Initialize the distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+        """
+        super().__init__()
+        self._generator = generator
+        self._last_sample = None
+
+    def sample(self) -> int | float | np.ndarray:
+        """
+        Sample from the distribution.
+
+        Returns:
+            int | float | np.ndarray: The sampled value(s).
+        """
+        self._last_sample = self._sample()
+        return self._last_sample
+
+    @abstractmethod
+    def _sample(self) -> int | float | np.ndarray:
+        pass
+
+    @property
+    def last_sample(self) -> int | float | np.ndarray | None:
+        """Get the last sampled value.
+        Returns:
+            int | float | np.ndarray | None: The last sampled value, or None if no sample has been taken yet.
+        """
+        return self._last_sample

humalab/dists/gaussian.py

@@ -0,0 +1,49 @@
+from humalab_sdk.dists.distribution import Distribution
+from typing import Any
+import numpy as np
+
+
+class Gaussian(Distribution):
+    def __init__(self,
+                 generator: np.random.Generator,
+                 loc: float | Any,
+                 scale: float | Any,
+                 size: int | tuple[int, ...] | None = None) -> None:
+        """
+        Initialize the Gaussian (normal) distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            loc (float | Any): The mean of the distribution.
+            scale (float | Any): The standard deviation of the distribution.
+            size (int | tuple[int, ...] | None): The size of the output.
+        """
+        super().__init__(generator=generator)
+        self._loc = loc
+        self._scale = scale
+        self._size = size
+
+    def _sample(self) -> int | float | np.ndarray:
+        return self._generator.normal(loc=self._loc, scale=self._scale, size=self._size)
+
+    def __repr__(self) -> str:
+        return f"Gaussian(loc={self._loc}, scale={self._scale}, size={self._size})"
+    
+    @staticmethod
+    def create(generator: np.random.Generator, 
+               loc: float | Any, 
+               scale: float | Any, 
+               size: int | tuple[int, ...] | None = None) -> 'Gaussian':
+        """
+        Create a Gaussian (normal) distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            loc (float | Any): The mean of the distribution.
+            scale (float | Any): The standard deviation of the distribution.
+            size (int | tuple[int, ...] | None): The size of the output.
+
+        Returns:
+            Gaussian: The created Gaussian distribution.
+        """
+        return Gaussian(generator=generator, loc=loc, scale=scale, size=size)

humalab/dists/log_uniform.py

@@ -0,0 +1,49 @@
+from humalab_sdk.dists.distribution import Distribution
+from typing import Any
+
+import numpy as np
+
+class LogUniform(Distribution):
+    def __init__(self, 
+                 generator: np.random.Generator,
+                 low: float | Any,
+                 high: float | Any,
+                 size: int | tuple[int, ...]| None = None) -> None:
+        """
+        Initialize the log-uniform distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            low (float | Any): The lower bound (inclusive).
+            high (float | Any): The upper bound (exclusive).
+            size (int | tuple[int, ...]| None): The size of the output.
+        """
+        super().__init__(generator=generator)
+        self._log_low = np.log(np.array(low))
+        self._log_high = np.log(np.array(high))
+        self._size = size
+
+    def _sample(self) -> int | float | np.ndarray:
+        return np.exp(self._generator.uniform(self._log_low, self._log_high, size=self._size))
+    
+    def __repr__(self) -> str:
+        return f"LogUniform(low={np.exp(self._log_low)}, high={np.exp(self._log_high)}, size={self._size})"
+
+    @staticmethod
+    def create(generator: np.random.Generator, 
+               low: float | Any, 
+               high: float | Any, 
+               size: int | tuple[int, ...]| None = None) -> 'LogUniform':
+        """
+        Create a log-uniform distribution.
+
+        Args:
+            generator (np.random.Generator): The random number generator.
+            low (float | Any): The lower bound (inclusive).
+            high (float | Any): The upper bound (exclusive).
+            size (int | tuple[int, ...]| None): The size of the output.
+
+        Returns:
+            LogUniform: The created log-uniform distribution.
+        """
+        return LogUniform(generator=generator, low=low, high=high, size=size)