kscale 0.0.8__py3-none-any.whl → 0.0.10__py3-none-any.whl

kscale/__init__.py

@@ -1,5 +1,9 @@
 """Defines the common interface for the K-Scale Python API."""
 
-__version__ = "0.0.8"
+__version__ = "0.0.10"
+
+from pathlib import Path
 
 from kscale.api import KScale
+
+ROOT_DIR = Path(__file__).parent

kscale/artifacts/__init__.py

@@ -0,0 +1,8 @@
+"""Defines some helper functions for working with artifacts."""
+
+from pathlib import Path
+
+ARTIFACTS_DIR = Path(__file__).parent.resolve()
+
+PLANE_OBJ_PATH = ARTIFACTS_DIR / "plane.obj"
+PLANE_URDF_PATH = ARTIFACTS_DIR / "plane.urdf"

kscale/store/api.py

@@ -1,6 +1,7 @@
 """Defines a common interface for the K-Scale Store API."""
 
 from pathlib import Path
+from typing import overload
 
 from kscale.store.gen.api import UploadArtifactResponse
 from kscale.store.urdf import download_urdf, upload_urdf
@@ -17,8 +18,47 @@ class StoreAPI(APIBase):
 
         self.api_key = api_key
 
-    async def urdf(self, artifact_id: str) -> Path:
+    async def artifact_root(self, artifact_id: str) -> Path:
         return await download_urdf(artifact_id)
 
+    @overload
+    async def urdf_path(self, artifact_id: str) -> Path: ...
+
+    @overload
+    async def urdf_path(self, artifact_id: str, *, throw_if_missing: bool = True) -> Path | None: ...
+
+    async def urdf_path(self, artifact_id: str, *, throw_if_missing: bool = True) -> Path | None:
+        root_dir = await self.artifact_root(artifact_id)
+        urdf_path = next(root_dir.glob("*.urdf"), None)
+        if urdf_path is None and throw_if_missing:
+            raise FileNotFoundError(f"No URDF found for artifact {artifact_id}")
+        return urdf_path
+
+    @overload
+    async def mjcf_path(self, artifact_id: str) -> Path: ...
+
+    @overload
+    async def mjcf_path(self, artifact_id: str, *, throw_if_missing: bool = True) -> Path | None: ...
+
+    async def mjcf_path(self, artifact_id: str, *, throw_if_missing: bool = True) -> Path | None:
+        root_dir = await self.artifact_root(artifact_id)
+        mjcf_path = next(root_dir.glob("*.mjcf"), None)
+        if mjcf_path is None and throw_if_missing:
+            raise FileNotFoundError(f"No MJCF found for artifact {artifact_id}")
+        return mjcf_path
+
+    @overload
+    async def xml_path(self, artifact_id: str) -> Path: ...
+
+    @overload
+    async def xml_path(self, artifact_id: str, *, throw_if_missing: bool = True) -> Path | None: ...
+
+    async def xml_path(self, artifact_id: str, *, throw_if_missing: bool = True) -> Path | None:
+        root_dir = await self.artifact_root(artifact_id)
+        xml_path = next(root_dir.glob("*.xml"), None)
+        if xml_path is None and throw_if_missing:
+            raise FileNotFoundError(f"No XML found for artifact {artifact_id}")
+        return xml_path
+
     async def upload_urdf(self, listing_id: str, root_dir: Path) -> UploadArtifactResponse:
         return await upload_urdf(listing_id, root_dir)

kscale/store/pybullet.py

@@ -6,9 +6,9 @@ import itertools
 import logging
 import math
 import time
-from pathlib import Path
 from typing import Sequence
 
+from kscale.artifacts import PLANE_URDF_PATH
 from kscale.store.urdf import download_urdf
 
 logger = logging.getLogger(__name__)
@@ -53,7 +53,7 @@ async def main(args: Sequence[str] | None = None) -> None:
     p.configureDebugVisualizer(p.COV_ENABLE_MOUSE_PICKING, 1)
 
     # Loads the floor plane.
-    floor = p.loadURDF(str((Path(__file__).parent / "bullet" / "plane.urdf").resolve()))
+    floor = p.loadURDF(str(PLANE_URDF_PATH))
 
     # Load the robot URDF.
     start_position = [0.0, 0.0, 1.0]

{kscale-0.0.8.dist-info → kscale-0.0.10.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: kscale
-Version: 0.0.8
+Version: 0.0.10
 Summary: The kscale project
 Home-page: https://github.com/kscalelabs/kscale
 Author: Benjamin Bolte

{kscale-0.0.8.dist-info → kscale-0.0.10.dist-info}/RECORD

@@ -1,25 +1,26 @@
-kscale/__init__.py,sha256=1MpcdojomS4ZvErzg6npkz6JgWeelA-mh3PHtjA2ERw,117
+kscale/__init__.py,sha256=s_FPBlHyXyKecFXm57Q2kH3d0O8suiaE8FrI6n0ckXU,178
 kscale/api.py,sha256=xBtKj8rgZ400r1Xx9LRY0AzSgIIttoXdejmhHhdVGS0,333
 kscale/conf.py,sha256=9fShFaYTbnrm_eiGjmy8ZtC4Q4m6PQkWPyoF3eNyov8,1424
 kscale/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 kscale/requirements-dev.txt,sha256=WI7-ea4IRJakmqVMN8QKhOsDGrghwtvk03aIsFaNSIw,130
 kscale/requirements.txt,sha256=gxo_niYIHsmyxKxvIOegv45s_lvdnIzI2iFJ2TZzx_U,103
+kscale/artifacts/__init__.py,sha256=RK8wdybtCJPgdLLJ8R8-YMi1Ph5ojqAKVJZowHONtgo,232
 kscale/artifacts/plane.obj,sha256=x59-IIrWpLjhotChiqT2Ul6U8s0RcHkaEeUZb4KXL1c,348
 kscale/artifacts/plane.urdf,sha256=LCiTk14AyTHjkZ1jvsb0hNaEaJUxDb8Z1JjsgpXu3YM,819
 kscale/store/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-kscale/store/api.py,sha256=rydanYGg8zlc_cNuWo9YBG_WVtPKMxFgp6fpec-B8M0,671
+kscale/store/api.py,sha256=JBp4h6yz_ESSdB-2FpkD_1-hdI8_iEKh9svzkyy3jhs,2386
 kscale/store/cli.py,sha256=8ygg_1tZzOOHJotEIgSN9pfumcriPmA31sI_FCFQiTo,859
 kscale/store/client.py,sha256=R1IDnf2J4ojAcP8nmUUHfXhcHUt4zP0-mxtVI7MIC5U,2664
-kscale/store/pybullet.py,sha256=WzA1FVAc19JMY9nUar0go9kcy9BvU8W1lnT9eT1W1LI,7638
+kscale/store/pybullet.py,sha256=zoeATQStuRWgmPhku65xjfgvE3Y8ReheUIAkZnDr2C0,7614
 kscale/store/urdf.py,sha256=5x8tK2BYv901S_yYWYPWEnHv-3T0ALBQMdDwb70EZFw,6395
 kscale/store/utils.py,sha256=rFXGkem2oAttAf3bhWmFEhxrqYnaVvlVJsC268IMw6Y,906
 kscale/store/gen/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 kscale/store/gen/api.py,sha256=82D41J6pg9KWdgD0lx7NggLcNS32SpnN8DqE3Md6ON0,9559
 kscale/utils/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 kscale/utils/api_base.py,sha256=Kk_WtRDdJHmOg6NtHmVxVrcfARSUkhfr29ypLch_pO0,112
-kscale-0.0.8.dist-info/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
-kscale-0.0.8.dist-info/METADATA,sha256=yCEhXQcLAaMpUqZnVWeK9Rcdv3LGV4u_vYNrUZ9VCbM,2504
-kscale-0.0.8.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
-kscale-0.0.8.dist-info/entry_points.txt,sha256=PaVs1ivqB0BBdGUsiFkxGUYjGLz05VqagxwRVwi4yV4,54
-kscale-0.0.8.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
-kscale-0.0.8.dist-info/RECORD,,
+kscale-0.0.10.dist-info/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
+kscale-0.0.10.dist-info/METADATA,sha256=4K7YAFdI1P5PIAAw78lvbyUw1zIAZ_-ZiZr2NFx-o2Q,2505
+kscale-0.0.10.dist-info/WHEEL,sha256=GV9aMThwP_4oNCtvEC2ec3qUYutgWeAzklro_0m4WJQ,91
+kscale-0.0.10.dist-info/entry_points.txt,sha256=PaVs1ivqB0BBdGUsiFkxGUYjGLz05VqagxwRVwi4yV4,54
+kscale-0.0.10.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
+kscale-0.0.10.dist-info/RECORD,,