kscale 0.0.7__py3-none-any.whl → 0.0.9__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 CHANGED
@@ -1,5 +1,9 @@
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  """Defines the common interface for the K-Scale Python API."""
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- __version__ = "0.0.7"
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+ __version__ = "0.0.9"
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+
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+ from pathlib import Path
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  from kscale.api import KScale
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+
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+ ROOT_DIR = Path(__file__).parent
@@ -0,0 +1,8 @@
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+ """Defines some helper functions for working with artifacts."""
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+
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+ from pathlib import Path
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+
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+ ARTIFACTS_DIR = Path(__file__).parent.resolve()
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+
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+ PLANE_OBJ_PATH = ARTIFACTS_DIR / "plane.obj"
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+ PLANE_URDF_PATH = ARTIFACTS_DIR / "plane.urdf"
@@ -0,0 +1,18 @@
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+ # Blender v2.66 (sub 1) OBJ File: ''
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+ # www.blender.org
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+ mtllib plane.mtl
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+ o Plane
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+ v 15.000000 -15.000000 0.000000
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+ v 15.000000 15.000000 0.000000
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+ v -15.000000 15.000000 0.000000
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+ v -15.000000 -15.000000 0.000000
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+
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+ vt 15.000000 0.000000
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+ vt 15.000000 15.000000
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+ vt 0.000000 15.000000
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+ vt 0.000000 0.000000
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+
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+ usemtl Material
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+ s off
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+ f 1/1 2/2 3/3
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+ f 1/1 3/3 4/4
@@ -0,0 +1,28 @@
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+ <?xml version="0.0" ?>
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+ <robot name="plane">
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+ <link name="planeLink">
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+ <contact>
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+ <lateral_friction value="1"/>
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+ </contact>
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+ <inertial>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <mass value=".0"/>
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+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
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+ </inertial>
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+ <visual>
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+ <origin rpy="0 0 0" xyz="0 0 0"/>
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+ <geometry>
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+ <mesh filename="plane.obj" scale="1 1 1"/>
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+ </geometry>
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+ <material name="white">
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+ <color rgba="1 1 1 1"/>
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+ </material>
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+ </visual>
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+ <collision>
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+ <origin rpy="0 0 0" xyz="0 0 -5"/>
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+ <geometry>
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+ <box size="30 30 10"/>
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+ </geometry>
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+ </collision>
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+ </link>
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+ </robot>
@@ -0,0 +1,11 @@
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+ # requirements-dev.txt
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+
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+ # For linting code.
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+ black
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+ darglint
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+ mypy
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+ pytest
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+ ruff
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+
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+ # For generating API types.
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+ datamodel-code-generator
@@ -0,0 +1,10 @@
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+ # requirements.txt
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+
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+ # Configuration
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+ omegaconf
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+ email_validator
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+
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+ # HTTP requests
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+ httpx
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+ requests
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+ pydantic
kscale/store/pybullet.py CHANGED
@@ -6,9 +6,9 @@ import itertools
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  import logging
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  import math
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  import time
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- from pathlib import Path
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  from typing import Sequence
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+ from kscale.artifacts import PLANE_URDF_PATH
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  from kscale.store.urdf import download_urdf
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  logger = logging.getLogger(__name__)
@@ -53,7 +53,7 @@ async def main(args: Sequence[str] | None = None) -> None:
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  p.configureDebugVisualizer(p.COV_ENABLE_MOUSE_PICKING, 1)
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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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+ floor = p.loadURDF(str(PLANE_URDF_PATH))
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  # Load the robot URDF.
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  start_position = [0.0, 0.0, 1.0]
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.1
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  Name: kscale
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- Version: 0.0.7
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+ Version: 0.0.9
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  Summary: The kscale project
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  Home-page: https://github.com/kscalelabs/kscale
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  Author: Benjamin Bolte
@@ -1,21 +1,26 @@
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- kscale/__init__.py,sha256=3DfIJ5zf1Jokj7wyBCtRldKZFvBMVODE8CoieJr1Zo4,117
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+ kscale/__init__.py,sha256=dcfdPhyC9nhbFk5nRj-R299UnVGP9ZLrZLgIGWgE5P0,177
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  kscale/api.py,sha256=xBtKj8rgZ400r1Xx9LRY0AzSgIIttoXdejmhHhdVGS0,333
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  kscale/conf.py,sha256=9fShFaYTbnrm_eiGjmy8ZtC4Q4m6PQkWPyoF3eNyov8,1424
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  kscale/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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+ kscale/requirements-dev.txt,sha256=WI7-ea4IRJakmqVMN8QKhOsDGrghwtvk03aIsFaNSIw,130
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+ kscale/requirements.txt,sha256=gxo_niYIHsmyxKxvIOegv45s_lvdnIzI2iFJ2TZzx_U,103
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+ kscale/artifacts/__init__.py,sha256=RK8wdybtCJPgdLLJ8R8-YMi1Ph5ojqAKVJZowHONtgo,232
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+ kscale/artifacts/plane.obj,sha256=x59-IIrWpLjhotChiqT2Ul6U8s0RcHkaEeUZb4KXL1c,348
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+ kscale/artifacts/plane.urdf,sha256=LCiTk14AyTHjkZ1jvsb0hNaEaJUxDb8Z1JjsgpXu3YM,819
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  kscale/store/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  kscale/store/api.py,sha256=rydanYGg8zlc_cNuWo9YBG_WVtPKMxFgp6fpec-B8M0,671
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  kscale/store/cli.py,sha256=8ygg_1tZzOOHJotEIgSN9pfumcriPmA31sI_FCFQiTo,859
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  kscale/store/client.py,sha256=R1IDnf2J4ojAcP8nmUUHfXhcHUt4zP0-mxtVI7MIC5U,2664
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- kscale/store/pybullet.py,sha256=WzA1FVAc19JMY9nUar0go9kcy9BvU8W1lnT9eT1W1LI,7638
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+ kscale/store/pybullet.py,sha256=zoeATQStuRWgmPhku65xjfgvE3Y8ReheUIAkZnDr2C0,7614
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  kscale/store/urdf.py,sha256=5x8tK2BYv901S_yYWYPWEnHv-3T0ALBQMdDwb70EZFw,6395
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  kscale/store/utils.py,sha256=rFXGkem2oAttAf3bhWmFEhxrqYnaVvlVJsC268IMw6Y,906
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  kscale/store/gen/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  kscale/store/gen/api.py,sha256=82D41J6pg9KWdgD0lx7NggLcNS32SpnN8DqE3Md6ON0,9559
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  kscale/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
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  kscale/utils/api_base.py,sha256=Kk_WtRDdJHmOg6NtHmVxVrcfARSUkhfr29ypLch_pO0,112
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- kscale-0.0.7.dist-info/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
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- kscale-0.0.7.dist-info/METADATA,sha256=JzwigJrhRpaJNCYKDzgam_allQTuY6G10nR4TU31an0,2504
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- kscale-0.0.7.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
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- kscale-0.0.7.dist-info/entry_points.txt,sha256=PaVs1ivqB0BBdGUsiFkxGUYjGLz05VqagxwRVwi4yV4,54
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- kscale-0.0.7.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
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- kscale-0.0.7.dist-info/RECORD,,
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+ kscale-0.0.9.dist-info/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
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+ kscale-0.0.9.dist-info/METADATA,sha256=3-UEHjXp3IQo3Cdn7drrOvciylD5MnoOl2gm1V4P4Iw,2504
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+ kscale-0.0.9.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
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+ kscale-0.0.9.dist-info/entry_points.txt,sha256=PaVs1ivqB0BBdGUsiFkxGUYjGLz05VqagxwRVwi4yV4,54
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+ kscale-0.0.9.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
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+ kscale-0.0.9.dist-info/RECORD,,
File without changes