wandelbots-isaacsim-api 2.2.2__py3-none-any.whl

wandelbots_isaacsim_api/api_response.py

@@ -0,0 +1,21 @@
+"""API response object."""
+
+from __future__ import annotations
+from typing import Optional, Generic, Mapping, TypeVar
+from pydantic import Field, StrictInt, StrictBytes, BaseModel
+
+T = TypeVar("T")
+
+class ApiResponse(BaseModel, Generic[T]):
+    """
+    API response object
+    """
+
+    status_code: StrictInt = Field(description="HTTP status code")
+    headers: Optional[Mapping[str, str]] = Field(None, description="HTTP headers")
+    data: T = Field(description="Deserialized data given the data type")
+    raw_data: StrictBytes = Field(description="Raw data (HTTP response body)")
+
+    model_config = {
+        "arbitrary_types_allowed": True
+    }

wandelbots_isaacsim_api/collision/utils.py

@@ -0,0 +1,99 @@
+import wandelbots_api_client as nova_api
+import wandelbots_isaacsim_api as isaac_sim_api
+from typing import cast
+
+
+def to_nova_collider(
+    shape: isaac_sim_api.models.Collider,
+) -> nova_api.models.Collider:
+    pose = nova_api.models.Pose2(
+        position=[
+            shape.pose.position[0].actual_instance,
+            shape.pose.position[1].actual_instance,
+            shape.pose.position[2].actual_instance,
+        ],
+        orientation=[
+            shape.pose.orientation[0].actual_instance,
+            shape.pose.orientation[1].actual_instance,
+            shape.pose.orientation[2].actual_instance,
+        ],
+    )
+
+    if isinstance(shape.shape.actual_instance, isaac_sim_api.models.Sphere):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Sphere2(
+                    radius=shape.shape.actual_instance.radius,
+                    shape_type="sphere",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape.actual_instance, isaac_sim_api.models.Box):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Box2(
+                    size_x=shape.shape.actual_instance.size_x,
+                    size_y=shape.shape.actual_instance.size_y,
+                    size_z=shape.shape.actual_instance.size_z,
+                    shape_type="box",
+                    box_type="FULL",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape.actual_instance, isaac_sim_api.models.Capsule):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Capsule2(
+                    cylinder_height=shape.shape.actual_instance.height,
+                    radius=shape.shape.actual_instance.radius,
+                    shape_type="capsule",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape.actual_instance, isaac_sim_api.models.Cylinder):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Cylinder2(
+                    height=shape.shape.actual_instance.height,
+                    radius=shape.shape.actual_instance.radius,
+                    shape_type="cylinder",
+                )
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape.actual_instance, isaac_sim_api.models.Plane):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.Plane2(shape_type="plane")
+            ),
+            pose=pose,
+        )
+    elif isinstance(shape.shape.actual_instance, isaac_sim_api.models.ConvexHull):
+        return nova_api.models.Collider(
+            shape=nova_api.models.ColliderShape(
+                nova_api.models.convex_hull2.ConvexHull2(
+                    shape_type="convex_hull",
+                    vertices=cast(
+                        isaac_sim_api.models.ConvexHull,
+                        shape.shape.actual_instance,
+                    ).vertices,
+                )
+            ),
+            pose=pose,
+        )
+    return None
+
+
+async def sweep_colliders(
+    api_client: isaac_sim_api.ApiClient,
+    sweep_parameters: isaac_sim_api.models.SphereSweepParameters
+    | isaac_sim_api.models.BoxSweepParameters,
+) -> dict[str, nova_api.models.Collider]:
+    collider_api = isaac_sim_api.CollisionWorldApi(api_client)
+    colliders = await collider_api.sweep_collisions(
+        isaac_sim_api.models.SweepArguments(sweep_parameters)
+    )
+    return {shape_id: to_nova_collider(shape) for shape_id, shape in colliders.items()}

wandelbots_isaacsim_api/configuration.py

@@ -0,0 +1,561 @@
+# coding: utf-8
+
+"""
+    Wandelbots Omniservice
+
+    A microservice-based framework for managing Omniverse functionalities
+
+    The version of the OpenAPI document: 2.2.2
+    Generated by OpenAPI Generator (https://openapi-generator.tech)
+
+    Do not edit the class manually.
+"""  # noqa: E501
+
+
+import copy
+import http.client as httplib
+import logging
+from logging import FileHandler
+import sys
+from typing import Any, ClassVar, Dict, List, Literal, Optional, TypedDict
+from typing_extensions import NotRequired, Self
+
+import urllib3
+
+
+JSON_SCHEMA_VALIDATION_KEYWORDS = {
+    'multipleOf', 'maximum', 'exclusiveMaximum',
+    'minimum', 'exclusiveMinimum', 'maxLength',
+    'minLength', 'pattern', 'maxItems', 'minItems'
+}
+
+ServerVariablesT = Dict[str, str]
+
+GenericAuthSetting = TypedDict(
+    "GenericAuthSetting",
+    {
+        "type": str,
+        "in": str,
+        "key": str,
+        "value": str,
+    },
+)
+
+
+OAuth2AuthSetting = TypedDict(
+    "OAuth2AuthSetting",
+    {
+        "type": Literal["oauth2"],
+        "in": Literal["header"],
+        "key": Literal["Authorization"],
+        "value": str,
+    },
+)
+
+
+APIKeyAuthSetting = TypedDict(
+    "APIKeyAuthSetting",
+    {
+        "type": Literal["api_key"],
+        "in": str,
+        "key": str,
+        "value": Optional[str],
+    },
+)
+
+
+BasicAuthSetting = TypedDict(
+    "BasicAuthSetting",
+    {
+        "type": Literal["basic"],
+        "in": Literal["header"],
+        "key": Literal["Authorization"],
+        "value": Optional[str],
+    },
+)
+
+
+BearerFormatAuthSetting = TypedDict(
+    "BearerFormatAuthSetting",
+    {
+        "type": Literal["bearer"],
+        "in": Literal["header"],
+        "format": Literal["JWT"],
+        "key": Literal["Authorization"],
+        "value": str,
+    },
+)
+
+
+BearerAuthSetting = TypedDict(
+    "BearerAuthSetting",
+    {
+        "type": Literal["bearer"],
+        "in": Literal["header"],
+        "key": Literal["Authorization"],
+        "value": str,
+    },
+)
+
+
+HTTPSignatureAuthSetting = TypedDict(
+    "HTTPSignatureAuthSetting",
+    {
+        "type": Literal["http-signature"],
+        "in": Literal["header"],
+        "key": Literal["Authorization"],
+        "value": None,
+    },
+)
+
+
+AuthSettings = TypedDict(
+    "AuthSettings",
+    {
+    },
+    total=False,
+)
+
+
+class HostSettingVariable(TypedDict):
+    description: str
+    default_value: str
+    enum_values: List[str]
+
+
+class HostSetting(TypedDict):
+    url: str
+    description: str
+    variables: NotRequired[Dict[str, HostSettingVariable]]
+
+
+class Configuration:
+    """This class contains various settings of the API client.
+
+    :param host: Base url.
+    :param ignore_operation_servers
+      Boolean to ignore operation servers for the API client.
+      Config will use `host` as the base url regardless of the operation servers.
+    :param api_key: Dict to store API key(s).
+      Each entry in the dict specifies an API key.
+      The dict key is the name of the security scheme in the OAS specification.
+      The dict value is the API key secret.
+    :param api_key_prefix: Dict to store API prefix (e.g. Bearer).
+      The dict key is the name of the security scheme in the OAS specification.
+      The dict value is an API key prefix when generating the auth data.
+    :param username: Username for HTTP basic authentication.
+    :param password: Password for HTTP basic authentication.
+    :param access_token: Access token.
+    :param server_index: Index to servers configuration.
+    :param server_variables: Mapping with string values to replace variables in
+      templated server configuration. The validation of enums is performed for
+      variables with defined enum values before.
+    :param server_operation_index: Mapping from operation ID to an index to server
+      configuration.
+    :param server_operation_variables: Mapping from operation ID to a mapping with
+      string values to replace variables in templated server configuration.
+      The validation of enums is performed for variables with defined enum
+      values before.
+    :param ssl_ca_cert: str - the path to a file of concatenated CA certificates
+      in PEM format.
+    :param retries: Number of retries for API requests.
+
+    """
+
+    _default: ClassVar[Optional[Self]] = None
+
+    def __init__(
+        self,
+        host: Optional[str]=None,
+        api_key: Optional[Dict[str, str]]=None,
+        api_key_prefix: Optional[Dict[str, str]]=None,
+        username: Optional[str]=None,
+        password: Optional[str]=None,
+        access_token: Optional[str]=None,
+        server_index: Optional[int]=None, 
+        server_variables: Optional[ServerVariablesT]=None,
+        server_operation_index: Optional[Dict[int, int]]=None,
+        server_operation_variables: Optional[Dict[int, ServerVariablesT]]=None,
+        ignore_operation_servers: bool=False,
+        ssl_ca_cert: Optional[str]=None,
+        retries: Optional[int] = None,
+        *,
+        debug: Optional[bool] = None,
+    ) -> None:
+        """Constructor
+        """
+        self._base_path = "http://localhost" if host is None else host
+        """Default Base url
+        """
+        self.server_index = 0 if server_index is None and host is None else server_index
+        self.server_operation_index = server_operation_index or {}
+        """Default server index
+        """
+        self.server_variables = server_variables or {}
+        self.server_operation_variables = server_operation_variables or {}
+        """Default server variables
+        """
+        self.ignore_operation_servers = ignore_operation_servers
+        """Ignore operation servers
+        """
+        self.temp_folder_path = None
+        """Temp file folder for downloading files
+        """
+        # Authentication Settings
+        self.api_key = {}
+        if api_key:
+            self.api_key = api_key
+        """dict to store API key(s)
+        """
+        self.api_key_prefix = {}
+        if api_key_prefix:
+            self.api_key_prefix = api_key_prefix
+        """dict to store API prefix (e.g. Bearer)
+        """
+        self.refresh_api_key_hook = None
+        """function hook to refresh API key if expired
+        """
+        self.username = username
+        """Username for HTTP basic authentication
+        """
+        self.password = password
+        """Password for HTTP basic authentication
+        """
+        self.access_token = access_token
+        """Access token
+        """
+        self.logger = {}
+        """Logging Settings
+        """
+        self.logger["package_logger"] = logging.getLogger("wandelbots_isaacsim_api")
+        self.logger["urllib3_logger"] = logging.getLogger("urllib3")
+        self.logger_format = '%(asctime)s %(levelname)s %(message)s'
+        """Log format
+        """
+        self.logger_stream_handler = None
+        """Log stream handler
+        """
+        self.logger_file_handler: Optional[FileHandler] = None
+        """Log file handler
+        """
+        self.logger_file = None
+        """Debug file location
+        """
+        if debug is not None:
+            self.debug = debug
+        else:
+            self.__debug = False
+        """Debug switch
+        """
+
+        self.verify_ssl = True
+        """SSL/TLS verification
+           Set this to false to skip verifying SSL certificate when calling API
+           from https server.
+        """
+        self.ssl_ca_cert = ssl_ca_cert
+        """Set this to customize the certificate file to verify the peer.
+        """
+        self.cert_file = None
+        """client certificate file
+        """
+        self.key_file = None
+        """client key file
+        """
+        self.assert_hostname = None
+        """Set this to True/False to enable/disable SSL hostname verification.
+        """
+        self.tls_server_name = None
+        """SSL/TLS Server Name Indication (SNI)
+           Set this to the SNI value expected by the server.
+        """
+
+        self.connection_pool_maxsize = 100
+        """This value is passed to the aiohttp to limit simultaneous connections.
+           Default values is 100, None means no-limit.
+        """
+
+        self.proxy: Optional[str] = None
+        """Proxy URL
+        """
+        self.proxy_headers = None
+        """Proxy headers
+        """
+        self.safe_chars_for_path_param = ''
+        """Safe chars for path_param
+        """
+        self.retries = retries
+        """Adding retries to override urllib3 default value 3
+        """
+        # Enable client side validation
+        self.client_side_validation = True
+
+        self.socket_options = None
+        """Options to pass down to the underlying urllib3 socket
+        """
+
+        self.datetime_format = "%Y-%m-%dT%H:%M:%S.%f%z"
+        """datetime format
+        """
+
+        self.date_format = "%Y-%m-%d"
+        """date format
+        """
+
+    def __deepcopy__(self, memo:  Dict[int, Any]) -> Self:
+        cls = self.__class__
+        result = cls.__new__(cls)
+        memo[id(self)] = result
+        for k, v in self.__dict__.items():
+            if k not in ('logger', 'logger_file_handler'):
+                setattr(result, k, copy.deepcopy(v, memo))
+        # shallow copy of loggers
+        result.logger = copy.copy(self.logger)
+        # use setters to configure loggers
+        result.logger_file = self.logger_file
+        result.debug = self.debug
+        return result
+
+    def __setattr__(self, name: str, value: Any) -> None:
+        object.__setattr__(self, name, value)
+
+    @classmethod
+    def set_default(cls, default: Optional[Self]) -> None:
+        """Set default instance of configuration.
+
+        It stores default configuration, which can be
+        returned by get_default_copy method.
+
+        :param default: object of Configuration
+        """
+        cls._default = default
+
+    @classmethod
+    def get_default_copy(cls) -> Self:
+        """Deprecated. Please use `get_default` instead.
+
+        Deprecated. Please use `get_default` instead.
+
+        :return: The configuration object.
+        """
+        return cls.get_default()
+
+    @classmethod
+    def get_default(cls) -> Self:
+        """Return the default configuration.
+
+        This method returns newly created, based on default constructor,
+        object of Configuration class or returns a copy of default
+        configuration.
+
+        :return: The configuration object.
+        """
+        if cls._default is None:
+            cls._default = cls()
+        return cls._default
+
+    @property
+    def logger_file(self) -> Optional[str]:
+        """The logger file.
+
+        If the logger_file is None, then add stream handler and remove file
+        handler. Otherwise, add file handler and remove stream handler.
+
+        :param value: The logger_file path.
+        :type: str
+        """
+        return self.__logger_file
+
+    @logger_file.setter
+    def logger_file(self, value: Optional[str]) -> None:
+        """The logger file.
+
+        If the logger_file is None, then add stream handler and remove file
+        handler. Otherwise, add file handler and remove stream handler.
+
+        :param value: The logger_file path.
+        :type: str
+        """
+        self.__logger_file = value
+        if self.__logger_file:
+            # If set logging file,
+            # then add file handler and remove stream handler.
+            self.logger_file_handler = logging.FileHandler(self.__logger_file)
+            self.logger_file_handler.setFormatter(self.logger_formatter)
+            for _, logger in self.logger.items():
+                logger.addHandler(self.logger_file_handler)
+
+    @property
+    def debug(self) -> bool:
+        """Debug status
+
+        :param value: The debug status, True or False.
+        :type: bool
+        """
+        return self.__debug
+
+    @debug.setter
+    def debug(self, value: bool) -> None:
+        """Debug status
+
+        :param value: The debug status, True or False.
+        :type: bool
+        """
+        self.__debug = value
+        if self.__debug:
+            # if debug status is True, turn on debug logging
+            for _, logger in self.logger.items():
+                logger.setLevel(logging.DEBUG)
+            # turn on httplib debug
+            httplib.HTTPConnection.debuglevel = 1
+        else:
+            # if debug status is False, turn off debug logging,
+            # setting log level to default `logging.WARNING`
+            for _, logger in self.logger.items():
+                logger.setLevel(logging.WARNING)
+            # turn off httplib debug
+            httplib.HTTPConnection.debuglevel = 0
+
+    @property
+    def logger_format(self) -> str:
+        """The logger format.
+
+        The logger_formatter will be updated when sets logger_format.
+
+        :param value: The format string.
+        :type: str
+        """
+        return self.__logger_format
+
+    @logger_format.setter
+    def logger_format(self, value: str) -> None:
+        """The logger format.
+
+        The logger_formatter will be updated when sets logger_format.
+
+        :param value: The format string.
+        :type: str
+        """
+        self.__logger_format = value
+        self.logger_formatter = logging.Formatter(self.__logger_format)
+
+    def get_api_key_with_prefix(self, identifier: str, alias: Optional[str]=None) -> Optional[str]:
+        """Gets API key (with prefix if set).
+
+        :param identifier: The identifier of apiKey.
+        :param alias: The alternative identifier of apiKey.
+        :return: The token for api key authentication.
+        """
+        if self.refresh_api_key_hook is not None:
+            self.refresh_api_key_hook(self)
+        key = self.api_key.get(identifier, self.api_key.get(alias) if alias is not None else None)
+        if key:
+            prefix = self.api_key_prefix.get(identifier)
+            if prefix:
+                return "%s %s" % (prefix, key)
+            else:
+                return key
+
+        return None
+
+    def get_basic_auth_token(self) -> Optional[str]:
+        """Gets HTTP basic authentication header (string).
+
+        :return: The token for basic HTTP authentication.
+        """
+        username = ""
+        if self.username is not None:
+            username = self.username
+        password = ""
+        if self.password is not None:
+            password = self.password
+        return urllib3.util.make_headers(
+            basic_auth=username + ':' + password
+        ).get('authorization')
+
+    def auth_settings(self)-> AuthSettings:
+        """Gets Auth Settings dict for api client.
+
+        :return: The Auth Settings information dict.
+        """
+        auth: AuthSettings = {}
+        return auth
+
+    def to_debug_report(self) -> str:
+        """Gets the essential information for debugging.
+
+        :return: The report for debugging.
+        """
+        return "Python SDK Debug Report:\n"\
+               "OS: {env}\n"\
+               "Python Version: {pyversion}\n"\
+               "Version of the API: 2.2.2\n"\
+               "SDK Package Version: 2.2.2".\
+               format(env=sys.platform, pyversion=sys.version)
+
+    def get_host_settings(self) -> List[HostSetting]:
+        """Gets an array of host settings
+
+        :return: An array of host settings
+        """
+        return [
+            {
+                'url': "",
+                'description': "No description provided",
+            }
+        ]
+
+    def get_host_from_settings(
+        self,
+        index: Optional[int],
+        variables: Optional[ServerVariablesT]=None,
+        servers: Optional[List[HostSetting]]=None,
+    ) -> str:
+        """Gets host URL based on the index and variables
+        :param index: array index of the host settings
+        :param variables: hash of variable and the corresponding value
+        :param servers: an array of host settings or None
+        :return: URL based on host settings
+        """
+        if index is None:
+            return self._base_path
+
+        variables = {} if variables is None else variables
+        servers = self.get_host_settings() if servers is None else servers
+
+        try:
+            server = servers[index]
+        except IndexError:
+            raise ValueError(
+                "Invalid index {0} when selecting the host settings. "
+                "Must be less than {1}".format(index, len(servers)))
+
+        url = server['url']
+
+        # go through variables and replace placeholders
+        for variable_name, variable in server.get('variables', {}).items():
+            used_value = variables.get(
+                variable_name, variable['default_value'])
+
+            if 'enum_values' in variable \
+                    and used_value not in variable['enum_values']:
+                raise ValueError(
+                    "The variable `{0}` in the host URL has invalid value "
+                    "{1}. Must be {2}.".format(
+                        variable_name, variables[variable_name],
+                        variable['enum_values']))
+
+            url = url.replace("{" + variable_name + "}", used_value)
+
+        return url
+
+    @property
+    def host(self) -> str:
+        """Return generated host."""
+        return self.get_host_from_settings(self.server_index, variables=self.server_variables)
+
+    @host.setter
+    def host(self, value: str) -> None:
+        """Fix base path."""
+        self._base_path = value
+        self.server_index = None