kscale 0.0.11__py3-none-any.whl → 0.1.0__py3-none-any.whl

kscale/store/gen/api.py

@@ -1,397 +0,0 @@
-"""Auto-generated by generate.sh script."""
-
-# generated by datamodel-codegen:
-#   filename:  openapi.json
-#   timestamp: 2024-10-23T08:09:02+00:00
-
-from __future__ import annotations
-
-from enum import Enum
-from typing import Dict, List, Optional, Union
-
-from pydantic import BaseModel, EmailStr, Field
-
-
-class ArtifactUrls(BaseModel):
-    small: Optional[str] = Field(None, title="Small")
-    large: str = Field(..., title="Large")
-
-
-class AuthResponse(BaseModel):
-    api_key: str = Field(..., title="Api Key")
-
-
-class BodyPullOnshapeDocumentOnshapePullListingIdGet(BaseModel):
-    suffix_to_joint_effort: Optional[Dict[str, float]] = Field(None, title="Suffix To Joint Effort")
-    suffix_to_joint_velocity: Optional[Dict[str, float]] = Field(None, title="Suffix To Joint Velocity")
-
-
-class BodyUploadArtifactsUploadListingIdPost(BaseModel):
-    files: List[bytes] = Field(..., title="Files")
-
-
-class ClientIdResponse(BaseModel):
-    client_id: str = Field(..., title="Client Id")
-
-
-class CreateCheckoutSessionRequest(BaseModel):
-    product_id: str = Field(..., title="Product Id")
-    cancel_url: str = Field(..., title="Cancel Url")
-
-
-class CreateCheckoutSessionResponse(BaseModel):
-    session_id: str = Field(..., title="Session Id")
-
-
-class DeleteTokenResponse(BaseModel):
-    message: str = Field(..., title="Message")
-
-
-class EmailSignUpRequest(BaseModel):
-    email: EmailStr = Field(..., title="Email")
-
-
-class EmailSignUpResponse(BaseModel):
-    message: str = Field(..., title="Message")
-
-
-class GetListingResponse(BaseModel):
-    id: str = Field(..., title="Id")
-    name: str = Field(..., title="Name")
-    description: Optional[str] = Field(..., title="Description")
-    child_ids: List[str] = Field(..., title="Child Ids")
-    tags: List[str] = Field(..., title="Tags")
-    onshape_url: Optional[str] = Field(..., title="Onshape Url")
-    can_edit: bool = Field(..., title="Can Edit")
-    created_at: int = Field(..., title="Created At")
-    views: int = Field(..., title="Views")
-    score: int = Field(..., title="Score")
-    user_vote: Optional[bool] = Field(..., title="User Vote")
-    creator_id: str = Field(..., title="Creator Id")
-    creator_name: Optional[str] = Field(..., title="Creator Name")
-
-
-class GetTokenResponse(BaseModel):
-    id: str = Field(..., title="Id")
-    email: str = Field(..., title="Email")
-
-
-class GithubAuthRequest(BaseModel):
-    code: str = Field(..., title="Code")
-
-
-class GithubAuthResponse(BaseModel):
-    api_key: str = Field(..., title="Api Key")
-
-
-class GoogleLogin(BaseModel):
-    token: str = Field(..., title="Token")
-
-
-class KernelImageResponse(BaseModel):
-    id: str = Field(..., title="Id")
-    user_id: str = Field(..., title="User Id")
-    name: str = Field(..., title="Name")
-    description: Optional[str] = Field(..., title="Description")
-    size: int = Field(..., title="Size")
-    timestamp: int = Field(..., title="Timestamp")
-    is_public: bool = Field(..., title="Is Public")
-    is_official: bool = Field(..., title="Is Official")
-    downloads: int = Field(..., title="Downloads")
-
-
-class KernelImageUploadRequest(BaseModel):
-    name: str = Field(..., title="Name")
-    file: str = Field(..., title="File")
-    is_public: bool = Field(..., title="Is Public")
-    is_official: bool = Field(..., title="Is Official")
-    description: Optional[str] = Field(None, title="Description")
-
-
-class Permission(Enum):
-    read = "read"
-    write = "write"
-    admin = "admin"
-
-
-class KeysResponseItem(BaseModel):
-    token: str = Field(..., title="Token")
-    permissions: Optional[List[Permission]] = Field(..., title="Permissions")
-
-
-class ListKeysResponse(BaseModel):
-    keys: List[KeysResponseItem] = Field(..., title="Keys")
-
-
-class ListListingsResponse(BaseModel):
-    listing_ids: List[str] = Field(..., title="Listing Ids")
-    has_next: Optional[bool] = Field(False, title="Has Next")
-
-
-class Listing(BaseModel):
-    id: str = Field(..., title="Id")
-    user_id: str = Field(..., title="User Id")
-    created_at: int = Field(..., title="Created At")
-    updated_at: int = Field(..., title="Updated At")
-    name: str = Field(..., title="Name")
-    child_ids: List[str] = Field(..., title="Child Ids")
-    description: Optional[str] = Field(None, title="Description")
-    onshape_url: Optional[str] = Field(None, title="Onshape Url")
-    views: Optional[int] = Field(0, title="Views")
-    upvotes: Optional[int] = Field(0, title="Upvotes")
-    downvotes: Optional[int] = Field(0, title="Downvotes")
-    score: Optional[int] = Field(0, title="Score")
-
-
-class ListingInfoResponse(BaseModel):
-    id: str = Field(..., title="Id")
-    name: str = Field(..., title="Name")
-    description: Optional[str] = Field(..., title="Description")
-    child_ids: List[str] = Field(..., title="Child Ids")
-    image_url: Optional[str] = Field(..., title="Image Url")
-    onshape_url: Optional[str] = Field(..., title="Onshape Url")
-    created_at: int = Field(..., title="Created At")
-    views: int = Field(..., title="Views")
-    score: int = Field(..., title="Score")
-    user_vote: Optional[bool] = Field(..., title="User Vote")
-
-
-class LoginRequest(BaseModel):
-    email: EmailStr = Field(..., title="Email")
-    password: str = Field(..., title="Password")
-
-
-class LoginResponse(BaseModel):
-    user_id: str = Field(..., title="User Id")
-    token: str = Field(..., title="Token")
-
-
-class Permission1(Enum):
-    is_admin = "is_admin"
-    is_mod = "is_mod"
-
-
-class MyUserInfoResponse(BaseModel):
-    user_id: str = Field(..., title="User Id")
-    email: str = Field(..., title="Email")
-    github_id: Optional[str] = Field(..., title="Github Id")
-    google_id: Optional[str] = Field(..., title="Google Id")
-    permissions: Optional[List[Permission1]] = Field(..., title="Permissions")
-    first_name: Optional[str] = Field(..., title="First Name")
-    last_name: Optional[str] = Field(..., title="Last Name")
-    name: Optional[str] = Field(..., title="Name")
-    bio: Optional[str] = Field(..., title="Bio")
-
-
-class NewKeyRequest(BaseModel):
-    readonly: Optional[bool] = Field(True, title="Readonly")
-
-
-class NewKeyResponse(BaseModel):
-    user_id: str = Field(..., title="User Id")
-    key: KeysResponseItem
-
-
-class NewListingRequest(BaseModel):
-    name: str = Field(..., title="Name")
-    child_ids: List[str] = Field(..., title="Child Ids")
-    description: Optional[str] = Field(..., title="Description")
-
-
-class NewListingResponse(BaseModel):
-    listing_id: str = Field(..., title="Listing Id")
-
-
-class Status(Enum):
-    processing = "processing"
-    in_development = "in_development"
-    being_assembled = "being_assembled"
-    shipped = "shipped"
-    delivered = "delivered"
-    cancelled = "cancelled"
-    refunded = "refunded"
-    failed = "failed"
-
-
-class Order(BaseModel):
-    id: str = Field(..., title="Id")
-    user_id: str = Field(..., title="User Id")
-    user_email: str = Field(..., title="User Email")
-    stripe_checkout_session_id: str = Field(..., title="Stripe Checkout Session Id")
-    stripe_payment_intent_id: str = Field(..., title="Stripe Payment Intent Id")
-    created_at: int = Field(..., title="Created At")
-    updated_at: int = Field(..., title="Updated At")
-    status: Status = Field(..., title="Status")
-    amount: int = Field(..., title="Amount")
-    currency: str = Field(..., title="Currency")
-    quantity: int = Field(..., title="Quantity")
-    product_id: Optional[str] = Field(None, title="Product Id")
-    shipping_name: Optional[str] = Field(None, title="Shipping Name")
-    shipping_address_line1: Optional[str] = Field(None, title="Shipping Address Line1")
-    shipping_address_line2: Optional[str] = Field(None, title="Shipping Address Line2")
-    shipping_city: Optional[str] = Field(None, title="Shipping City")
-    shipping_state: Optional[str] = Field(None, title="Shipping State")
-    shipping_postal_code: Optional[str] = Field(None, title="Shipping Postal Code")
-    shipping_country: Optional[str] = Field(None, title="Shipping Country")
-
-
-class ProductInfo(BaseModel):
-    id: str = Field(..., title="Id")
-    name: str = Field(..., title="Name")
-    description: Optional[str] = Field(..., title="Description")
-    images: List[str] = Field(..., title="Images")
-    metadata: Dict[str, str] = Field(..., title="Metadata")
-
-
-class PublicUserInfoResponseItem(BaseModel):
-    id: str = Field(..., title="Id")
-    email: str = Field(..., title="Email")
-    permissions: Optional[List[Permission1]] = Field(None, title="Permissions")
-    created_at: Optional[int] = Field(None, title="Created At")
-    updated_at: Optional[int] = Field(None, title="Updated At")
-    first_name: Optional[str] = Field(None, title="First Name")
-    last_name: Optional[str] = Field(None, title="Last Name")
-    name: Optional[str] = Field(None, title="Name")
-    bio: Optional[str] = Field(None, title="Bio")
-
-
-class PublicUsersInfoResponse(BaseModel):
-    users: List[PublicUserInfoResponseItem] = Field(..., title="Users")
-
-
-class SetModeratorRequest(BaseModel):
-    user_id: str = Field(..., title="User Id")
-    is_mod: bool = Field(..., title="Is Mod")
-
-
-class SetRequest(BaseModel):
-    onshape_url: Optional[str] = Field(..., title="Onshape Url")
-
-
-class ArtifactType(Enum):
-    image = "image"
-
-
-class ArtifactType1(Enum):
-    urdf = "urdf"
-    mjcf = "mjcf"
-
-
-class ArtifactType2(Enum):
-    stl = "stl"
-    obj = "obj"
-    dae = "dae"
-    ply = "ply"
-
-
-class ArtifactType3(Enum):
-    tgz = "tgz"
-    zip = "zip"
-
-
-class SingleArtifactResponse(BaseModel):
-    artifact_id: str = Field(..., title="Artifact Id")
-    listing_id: str = Field(..., title="Listing Id")
-    name: str = Field(..., title="Name")
-    artifact_type: Union[ArtifactType, ArtifactType1, ArtifactType2, ArtifactType3] = Field(..., title="Artifact Type")
-    description: Optional[str] = Field(..., title="Description")
-    timestamp: int = Field(..., title="Timestamp")
-    urls: ArtifactUrls
-
-
-class SortOption(Enum):
-    newest = "newest"
-    most_viewed = "most_viewed"
-    most_upvoted = "most_upvoted"
-
-
-class UpdateArtifactRequest(BaseModel):
-    name: Optional[str] = Field(None, title="Name")
-    description: Optional[str] = Field(None, title="Description")
-
-
-class UpdateListingRequest(BaseModel):
-    name: Optional[str] = Field(None, title="Name")
-    child_ids: Optional[List[str]] = Field(None, title="Child Ids")
-    description: Optional[str] = Field(None, title="Description")
-    tags: Optional[List[str]] = Field(None, title="Tags")
-
-
-class UpdateOrderAddressRequest(BaseModel):
-    shipping_name: str = Field(..., title="Shipping Name")
-    shipping_address_line1: str = Field(..., title="Shipping Address Line1")
-    shipping_address_line2: Optional[str] = Field(..., title="Shipping Address Line2")
-    shipping_city: str = Field(..., title="Shipping City")
-    shipping_state: str = Field(..., title="Shipping State")
-    shipping_postal_code: str = Field(..., title="Shipping Postal Code")
-    shipping_country: str = Field(..., title="Shipping Country")
-
-
-class UpdateUserRequest(BaseModel):
-    email: Optional[str] = Field(None, title="Email")
-    password: Optional[str] = Field(None, title="Password")
-    github_id: Optional[str] = Field(None, title="Github Id")
-    google_id: Optional[str] = Field(None, title="Google Id")
-    first_name: Optional[str] = Field(None, title="First Name")
-    last_name: Optional[str] = Field(None, title="Last Name")
-    name: Optional[str] = Field(None, title="Name")
-    bio: Optional[str] = Field(None, title="Bio")
-
-
-class UploadArtifactResponse(BaseModel):
-    artifacts: List[SingleArtifactResponse] = Field(..., title="Artifacts")
-
-
-class UpvotedListingsResponse(BaseModel):
-    upvoted_listing_ids: List[str] = Field(..., title="Upvoted Listing Ids")
-    has_more: bool = Field(..., title="Has More")
-
-
-class UserInfoResponseItem(BaseModel):
-    id: str = Field(..., title="Id")
-    email: str = Field(..., title="Email")
-
-
-class UserPublic(BaseModel):
-    id: str = Field(..., title="Id")
-    email: str = Field(..., title="Email")
-    permissions: Optional[List[Permission1]] = Field(None, title="Permissions")
-    created_at: int = Field(..., title="Created At")
-    updated_at: Optional[int] = Field(None, title="Updated At")
-    first_name: Optional[str] = Field(None, title="First Name")
-    last_name: Optional[str] = Field(None, title="Last Name")
-    name: Optional[str] = Field(None, title="Name")
-    bio: Optional[str] = Field(None, title="Bio")
-
-
-class UserSignup(BaseModel):
-    signup_token_id: str = Field(..., title="Signup Token Id")
-    email: str = Field(..., title="Email")
-    password: str = Field(..., title="Password")
-
-
-class ValidationError(BaseModel):
-    loc: List[Union[str, int]] = Field(..., title="Location")
-    msg: str = Field(..., title="Message")
-    type: str = Field(..., title="Error Type")
-
-
-class DumpListingsResponse(BaseModel):
-    listings: List[Listing] = Field(..., title="Listings")
-
-
-class GetBatchListingsResponse(BaseModel):
-    listings: List[ListingInfoResponse] = Field(..., title="Listings")
-
-
-class HTTPValidationError(BaseModel):
-    detail: Optional[List[ValidationError]] = Field(None, title="Detail")
-
-
-class ListArtifactsResponse(BaseModel):
-    artifacts: List[SingleArtifactResponse] = Field(..., title="Artifacts")
-
-
-class OrderWithProduct(BaseModel):
-    order: Order
-    product: ProductInfo

kscale/store/pybullet.py

@@ -1,180 +0,0 @@
-"""Simple script to interact with a URDF in PyBullet."""
-
-import argparse
-import asyncio
-import itertools
-import logging
-import math
-import time
-from typing import Sequence
-
-from kscale.artifacts import PLANE_URDF_PATH
-from kscale.store.urdf import download_urdf
-
-logger = logging.getLogger(__name__)
-
-
-async def main(args: Sequence[str] | None = None) -> None:
-    parser = argparse.ArgumentParser(description="Show a URDF in PyBullet")
-    parser.add_argument("listing_id", help="Listing ID for the URDF")
-    parser.add_argument("--dt", type=float, default=0.01, help="Time step")
-    parser.add_argument("-n", "--hide-gui", action="store_true", help="Hide the GUI")
-    parser.add_argument("--no-merge", action="store_true", help="Do not merge fixed links")
-    parser.add_argument("--hide-origin", action="store_true", help="Do not show the origin")
-    parser.add_argument("--show-inertia", action="store_true", help="Visualizes the inertia frames")
-    parser.add_argument("--see-thru", action="store_true", help="Use see-through mode")
-    parser.add_argument("--show-collision", action="store_true", help="Show collision meshes")
-    parsed_args = parser.parse_args(args)
-
-    # Gets the URDF path.
-    urdf_dir = await download_urdf(parsed_args.listing_id)
-    urdf_path = next(urdf_dir.glob("*.urdf"), None)
-    if urdf_path is None:
-        raise ValueError(f"No URDF found in {urdf_dir}")
-
-    try:
-        import pybullet as p  # type: ignore[import-not-found]
-    except ImportError:
-        raise ImportError("pybullet is required to run this script")
-
-    # Connect to PyBullet.
-    p.connect(p.GUI)
-    p.setGravity(0, 0, -9.81)
-    p.setRealTimeSimulation(0)
-
-    # Turn off panels.
-    if parsed_args.hide_gui:
-        p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
-    p.configureDebugVisualizer(p.COV_ENABLE_SEGMENTATION_MARK_PREVIEW, 0)
-    p.configureDebugVisualizer(p.COV_ENABLE_DEPTH_BUFFER_PREVIEW, 0)
-    p.configureDebugVisualizer(p.COV_ENABLE_RGB_BUFFER_PREVIEW, 0)
-
-    # Enable mouse picking.
-    p.configureDebugVisualizer(p.COV_ENABLE_MOUSE_PICKING, 1)
-
-    # Loads the floor plane.
-    floor = p.loadURDF(str(PLANE_URDF_PATH))
-
-    # Load the robot URDF.
-    start_position = [0.0, 0.0, 1.0]
-    start_orientation = p.getQuaternionFromEuler([0.0, 0.0, 0.0])
-    flags = p.URDF_USE_INERTIA_FROM_FILE
-    if not parsed_args.no_merge:
-        flags |= p.URDF_MERGE_FIXED_LINKS
-    robot = p.loadURDF(str(urdf_path), start_position, start_orientation, flags=flags, useFixedBase=0)
-
-    # Display collision meshes as separate object.
-    if parsed_args.show_collision:
-        collision_flags = p.URDF_USE_INERTIA_FROM_FILE | p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS
-        collision = p.loadURDF(str(urdf_path), start_position, start_orientation, flags=collision_flags, useFixedBase=0)
-
-        # Make collision shapes semi-transparent.
-        joint_ids = [i for i in range(p.getNumJoints(collision))] + [-1]
-        for i in joint_ids:
-            p.changeVisualShape(collision, i, rgbaColor=[1, 0, 0, 0.5])
-
-    # Initializes physics parameters.
-    p.changeDynamics(floor, -1, lateralFriction=1, spinningFriction=-1, rollingFriction=-1)
-    p.setPhysicsEngineParameter(fixedTimeStep=parsed_args.dt, maxNumCmdPer1ms=1000)
-
-    # Shows the origin of the robot.
-    if not parsed_args.hide_origin:
-        p.addUserDebugLine([0, 0, 0], [0.1, 0, 0], [1, 0, 0], parentObjectUniqueId=robot, parentLinkIndex=-1)
-        p.addUserDebugLine([0, 0, 0], [0, 0.1, 0], [0, 1, 0], parentObjectUniqueId=robot, parentLinkIndex=-1)
-        p.addUserDebugLine([0, 0, 0], [0, 0, 0.1], [0, 0, 1], parentObjectUniqueId=robot, parentLinkIndex=-1)
-
-    # Make the robot see-through.
-    joint_ids = [i for i in range(p.getNumJoints(robot))] + [-1]
-    if parsed_args.see_thru:
-        for i in joint_ids:
-            p.changeVisualShape(robot, i, rgbaColor=[1, 1, 1, 0.5])
-
-    def draw_box(pt: list[list[float]], color: tuple[float, float, float], obj_id: int, link_id: int) -> None:
-        assert len(pt) == 8
-        assert all(len(p) == 3 for p in pt)
-
-        mapping = [1, 3, 0, 2]
-        for i in range(4):
-            p.addUserDebugLine(pt[i], pt[i + 4], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id)
-            p.addUserDebugLine(pt[i], pt[mapping[i]], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id)
-            p.addUserDebugLine(
-                pt[i + 4], pt[mapping[i] + 4], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id
-            )
-
-    # Shows bounding boxes around each part of the robot representing the inertia frame.
-    if parsed_args.show_inertia:
-        for i in joint_ids:
-            dynamics_info = p.getDynamicsInfo(robot, i)
-            mass = dynamics_info[0]
-            if mass <= 0:
-                continue
-            inertia = dynamics_info[2]
-            ixx = inertia[0]
-            iyy = inertia[1]
-            izz = inertia[2]
-            box_scale_x = 0.5 * math.sqrt(6 * (izz + iyy - ixx) / mass)
-            box_scale_y = 0.5 * math.sqrt(6 * (izz + ixx - iyy) / mass)
-            box_scale_z = 0.5 * math.sqrt(6 * (ixx + iyy - izz) / mass)
-
-            half_extents = [box_scale_x, box_scale_y, box_scale_z]
-            pt = [
-                [x, y, z]
-                for x, y, z in itertools.product(
-                    [-half_extents[0], half_extents[0]],
-                    [-half_extents[1], half_extents[1]],
-                    [-half_extents[2], half_extents[2]],
-                )
-            ]
-            draw_box(pt, (1, 0, 0), robot, i)
-
-    # Show joint controller.
-    joints: dict[str, int] = {}
-    controls: dict[str, float] = {}
-    for i in range(p.getNumJoints(robot)):
-        joint_info = p.getJointInfo(robot, i)
-        name = joint_info[1].decode("utf-8")
-        joint_type = joint_info[2]
-        joints[name] = i
-        if joint_type == p.JOINT_PRISMATIC:
-            joint_min, joint_max = joint_info[8:10]
-            controls[name] = p.addUserDebugParameter(name, joint_min, joint_max, 0.0)
-        elif joint_type == p.JOINT_REVOLUTE:
-            joint_min, joint_max = joint_info[8:10]
-            controls[name] = p.addUserDebugParameter(name, joint_min, joint_max, 0.0)
-
-    # Run the simulation until the user closes the window.
-    last_time = time.time()
-    prev_control_values = {k: 0.0 for k in controls}
-    while p.isConnected():
-        # Reset the simulation if "r" was pressed.
-        keys = p.getKeyboardEvents()
-        if ord("r") in keys and keys[ord("r")] & p.KEY_WAS_TRIGGERED:
-            p.resetBasePositionAndOrientation(robot, start_position, start_orientation)
-            p.setJointMotorControlArray(
-                robot,
-                range(p.getNumJoints(robot)),
-                p.POSITION_CONTROL,
-                targetPositions=[0] * p.getNumJoints(robot),
-            )
-
-        # Set joint positions.
-        for k, v in controls.items():
-            try:
-                target_position = p.readUserDebugParameter(v)
-                if target_position != prev_control_values[k]:
-                    prev_control_values[k] = target_position
-                    p.setJointMotorControl2(robot, joints[k], p.POSITION_CONTROL, target_position)
-            except p.error:
-                logger.debug("Failed to set joint %s", k)
-                pass
-
-        # Step simulation.
-        p.stepSimulation()
-        cur_time = time.time()
-        time.sleep(max(0, parsed_args.dt - (cur_time - last_time)))
-        last_time = cur_time
-
-
-if __name__ == "__main__":
-    # python -m kscale.store.pybullet
-    asyncio.run(main())