kscale 0.0.2__py3-none-any.whl → 0.0.3__py3-none-any.whl
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- kscale/__init__.py +1 -1
- kscale/store/cli.py +9 -4
- kscale/store/pybullet.py +11 -10
- kscale/store/urdf.py +101 -62
- {kscale-0.0.2.dist-info → kscale-0.0.3.dist-info}/METADATA +1 -1
- kscale-0.0.3.dist-info/RECORD +15 -0
- kscale-0.0.3.dist-info/entry_points.txt +2 -0
- kscale-0.0.2.dist-info/RECORD +0 -15
- kscale-0.0.2.dist-info/entry_points.txt +0 -2
- {kscale-0.0.2.dist-info → kscale-0.0.3.dist-info}/LICENSE +0 -0
- {kscale-0.0.2.dist-info → kscale-0.0.3.dist-info}/WHEEL +0 -0
- {kscale-0.0.2.dist-info → kscale-0.0.3.dist-info}/top_level.txt +0 -0
kscale/__init__.py
CHANGED
@@ -1 +1 @@
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-
__version__ = "0.0.
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__version__ = "0.0.3"
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kscale/store/cli.py
CHANGED
@@ -1,12 +1,13 @@
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"""Defines the top-level KOL CLI."""
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import argparse
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import asyncio
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from typing import Sequence
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from kscale.store import pybullet, urdf
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def main(args: Sequence[str] | None = None) -> None:
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async def main(args: Sequence[str] | None = None) -> None:
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parser = argparse.ArgumentParser(description="K-Scale OnShape Library", add_help=False)
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parser.add_argument(
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"subcommand",
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match parsed_args.subcommand:
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case "urdf":
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urdf.main(remaining_args)
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await urdf.main(remaining_args)
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case "pybullet":
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pybullet.main(remaining_args)
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await pybullet.main(remaining_args)
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def sync_main(args: Sequence[str] | None = None) -> None:
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asyncio.run(main(args))
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if __name__ == "__main__":
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# python3 -m kscale.store.cli
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-
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sync_main()
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kscale/store/pybullet.py
CHANGED
@@ -1,6 +1,7 @@
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"""Simple script to interact with a URDF in PyBullet."""
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import argparse
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import asyncio
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import itertools
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import logging
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import math
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from pathlib import Path
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from typing import Sequence
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from kscale.store.urdf import download_urdf
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logger = logging.getLogger(__name__)
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def main(args: Sequence[str] | None = None) -> None:
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async def main(args: Sequence[str] | None = None) -> None:
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parser = argparse.ArgumentParser(description="Show a URDF in PyBullet")
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parser.add_argument("
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parser.add_argument("listing_id", help="Listing ID for the URDF")
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parser.add_argument("--dt", type=float, default=0.01, help="Time step")
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parser.add_argument("-n", "--hide-gui", action="store_true", help="Hide the GUI")
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parser.add_argument("--no-merge", action="store_true", help="Do not merge fixed links")
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parser.add_argument("--show-collision", action="store_true", help="Show collision meshes")
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parsed_args = parser.parse_args(args)
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# Gets the URDF path.
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urdf_path = await download_urdf(parsed_args.listing_id)
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breakpoint()
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try:
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import pybullet as p # type: ignore[import-not-found]
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except ImportError:
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# Loads the floor plane.
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floor = p.loadURDF(str((Path(__file__).parent / "bullet" / "plane.urdf").resolve()))
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urdf_path = Path("robot" if parsed_args.urdf is None else parsed_args.urdf)
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if urdf_path.is_dir():
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try:
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urdf_path = next(urdf_path.glob("*.urdf"))
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except StopIteration:
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raise FileNotFoundError(f"No URDF files found in {urdf_path}")
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-
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# Load the robot URDF.
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start_position = [0.0, 0.0, 1.0]
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start_orientation = p.getQuaternionFromEuler([0.0, 0.0, 0.0])
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@@ -175,4 +176,4 @@ def main(args: Sequence[str] | None = None) -> None:
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if __name__ == "__main__":
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# python -m kscale.store.pybullet
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main()
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asyncio.run(main())
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kscale/store/urdf.py
CHANGED
@@ -4,10 +4,11 @@ import argparse
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import asyncio
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import logging
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import os
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import shutil
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import sys
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import tarfile
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from pathlib import Path
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from typing import Literal, Sequence
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from typing import Literal, Sequence, get_args
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import httpx
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import requests
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@@ -24,7 +25,7 @@ def get_api_key() -> str:
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api_key = Settings.load().store.api_key
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if not api_key:
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raise ValueError(
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"API key not found! Get one here and set it as the `KSCALE_API_KEY` environment variable or in your"
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"API key not found! Get one here and set it as the `KSCALE_API_KEY` environment variable or in your "
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"config file: https://kscale.store/keys"
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)
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return api_key
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@@ -34,6 +35,11 @@ def get_cache_dir() -> Path:
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return Path(Settings.load().store.cache_dir).expanduser().resolve()
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def get_listing_dir(listing_id: str) -> Path:
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(cache_dir := get_cache_dir() / listing_id).mkdir(parents=True, exist_ok=True)
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return cache_dir
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def fetch_urdf_info(listing_id: str) -> UrdfResponse:
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url = f"https://api.kscale.store/urdf/info/{listing_id}"
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headers = {
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return UrdfResponse(**response.json())
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async def download_artifact(artifact_url: str, cache_dir: Path) ->
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async def download_artifact(artifact_url: str, cache_dir: Path) -> Path:
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filename = os.path.join(cache_dir, artifact_url.split("/")[-1])
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headers = {
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"Authorization": f"Bearer {get_api_key()}",
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}
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if not os.path.exists(filename):
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logger.info("Downloading artifact from %s"
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logger.info("Downloading artifact from %s", artifact_url)
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async with httpx.AsyncClient() as client:
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response = await client.get(artifact_url, headers=headers)
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with open(filename, "wb") as f:
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for chunk in response.iter_bytes(chunk_size=8192):
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f.write(chunk)
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logger.info("Artifact downloaded to %s"
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logger.info("Artifact downloaded to %s", filename)
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else:
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logger.info("Artifact already cached at %s"
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logger.info("Artifact already cached at %s", filename)
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# Extract the .tgz file
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extract_dir =
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if not
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logger.info(
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extract_dir = cache_dir / os.path.splitext(os.path.basename(filename))[0]
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if not extract_dir.exists():
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logger.info("Extracting %s to %s", filename, extract_dir)
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with tarfile.open(filename, "r:gz") as tar:
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tar.extractall(path=extract_dir)
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logger.info("Extraction complete")
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else:
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logger.info("Artifact already extracted at %s"
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logger.info("Artifact already extracted at %s", extract_dir)
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return extract_dir
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@@ -84,8 +89,8 @@ def create_tarball(folder_path: str | Path, output_filename: str, cache_dir: Pat
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file_path = os.path.join(root, file)
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arcname = os.path.relpath(file_path, start=folder_path)
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tar.add(file_path, arcname=arcname)
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logger.info("Added %s as %s"
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logger.info("Created tarball %s"
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logger.info("Added %s as %s", file_path, arcname)
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logger.info("Created tarball %s", tarball_path)
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return tarball_path
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@@ -102,68 +107,102 @@ async def upload_artifact(tarball_path: str, listing_id: str) -> None:
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response.raise_for_status()
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logger.info("Uploaded artifact to %s"
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logger.info("Uploaded artifact to %s", url)
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async def download_urdf(listing_id: str) -> Path:
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try:
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urdf_info = fetch_urdf_info(listing_id)
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if urdf_info.urdf is None:
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breakpoint()
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raise ValueError(f"No URDF found for listing {listing_id}")
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artifact_url = urdf_info.urdf.url
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return await download_artifact(artifact_url, get_listing_dir(listing_id))
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except requests.RequestException:
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logger.exception("Failed to fetch URDF info")
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raise
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async def show_urdf_info(listing_id: str) -> None:
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try:
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urdf_info = fetch_urdf_info(listing_id)
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if urdf_info.urdf:
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logger.info("URDF Artifact ID: %s", urdf_info.urdf.artifact_id)
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logger.info("URDF URL: %s", urdf_info.urdf.url)
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else:
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logger.info("No URDF found for listing %s", listing_id)
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except requests.RequestException:
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logger.exception("Failed to fetch URDF info")
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raise
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async def upload_urdf(listing_id: str, args: Sequence[str] | None = None) -> None:
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parser = argparse.ArgumentParser(description="Upload a URDF artifact to the K-Scale store")
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parser.add_argument("folder_path", help="The path to the folder containing the URDF files")
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parsed_args = parser.parse_args(args)
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folder_path = Path(parsed_args.folder_path).expanduser().resolve()
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output_filename = f"{listing_id}.tgz"
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tarball_path = create_tarball(folder_path, output_filename, get_listing_dir(listing_id))
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try:
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fetch_urdf_info(listing_id)
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await upload_artifact(tarball_path, listing_id)
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except requests.RequestException:
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logger.exception("Failed to upload artifact")
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raise
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async def remove_local_urdf(listing_id: str) -> None:
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try:
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if listing_id.lower() == "all":
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cache_dir = get_cache_dir()
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if cache_dir.exists():
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logger.info("Removing all local caches at %s", cache_dir)
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shutil.rmtree(cache_dir)
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else:
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logger.error("No local caches found")
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else:
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listing_dir = get_listing_dir(listing_id)
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if listing_dir.exists():
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logger.info("Removing local cache at %s", listing_dir)
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shutil.rmtree(listing_dir)
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else:
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logger.error("No local cache found for listing %s", listing_id)
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except Exception:
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logger.error("Failed to remove local cache")
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raise
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Command = Literal["download", "info", "upload", "remove-local"]
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async def main(args: Sequence[str] | None = None) -> None:
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parser = argparse.ArgumentParser(description="K-Scale URDF Store", add_help=False)
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parser.add_argument(
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"command",
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choices=["get", "info", "upload"],
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help="The command to run",
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)
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parser.add_argument("command", choices=get_args(Command), help="The command to run")
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parser.add_argument("listing_id", help="The listing ID to operate on")
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parsed_args, remaining_args = parser.parse_known_args(args)
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command:
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command: Command = parsed_args.command
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listing_id: str = parsed_args.listing_id
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def get_listing_dir() -> Path:
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(cache_dir := get_cache_dir() / listing_id).mkdir(parents=True, exist_ok=True)
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return cache_dir
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-
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match command:
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case "
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urdf_info = fetch_urdf_info(listing_id)
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if urdf_info.urdf:
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artifact_url = urdf_info.urdf.url
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asyncio.run(download_artifact(artifact_url, get_listing_dir()))
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else:
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logger.info("No URDF found for listing %s" % listing_id)
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except requests.RequestException as e:
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logger.error("Failed to fetch URDF info: %s" % e)
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sys.exit(1)
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case "download":
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await download_urdf(listing_id)
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case "info":
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-
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urdf_info = fetch_urdf_info(listing_id)
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if urdf_info.urdf:
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logger.info("URDF Artifact ID: %s" % urdf_info.urdf.artifact_id)
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logger.info("URDF URL: %s" % urdf_info.urdf.url)
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else:
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logger.info("No URDF found for listing %s" % listing_id)
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except requests.RequestException as e:
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logger.error("Failed to fetch URDF info: %s" % e)
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sys.exit(1)
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await show_urdf_info(listing_id)
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case "upload":
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parser.add_argument("folder_path", help="The path to the folder containing the URDF files")
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parsed_args = parser.parse_args(remaining_args)
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folder_path = Path(parsed_args.folder_path).expanduser().resolve()
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-
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output_filename = f"{listing_id}.tgz"
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tarball_path = create_tarball(folder_path, output_filename, get_listing_dir())
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await upload_urdf(listing_id, remaining_args)
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asyncio.run(upload_artifact(tarball_path, listing_id))
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except requests.RequestException as e:
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logger.error("Failed to upload artifact: %s" % e)
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sys.exit(1)
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case "remove-local":
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await remove_local_urdf(listing_id)
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case _:
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logger.error("Invalid command")
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@@ -171,4 +210,4 @@ def main(args: Sequence[str] | None = None) -> None:
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if __name__ == "__main__":
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main()
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asyncio.run(main())
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@@ -0,0 +1,15 @@
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1
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kscale/__init__.py,sha256=4GZKi13lDTD25YBkGakhZyEQZWTER_OWQMNPoH_UM2c,22
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2
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kscale-0.0.2.dist-info/RECORD,,
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File without changes
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