Urdf pybullet #2
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
codekansas
reviewed
Aug 20, 2024
kscale/store/cli.py
Outdated
| match parsed_args.subcommand: | ||
| case "urdf": | ||
| urdf.main(remaining_args) | ||
| case "urdf": |
kscale/store/pybullet.py
Outdated
Comment on lines
94
to
107
| p.addUserDebugLine(pt[0], pt[1], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[1], pt[3], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[3], pt[2], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[2], pt[0], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
|
|
||
| p.addUserDebugLine(pt[0], pt[4], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[1], pt[5], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[2], pt[6], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[3], pt[7], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
|
|
||
| p.addUserDebugLine(pt[4 + 0], pt[4 + 1], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[4 + 1], pt[4 + 3], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[4 + 3], pt[4 + 2], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) | ||
| p.addUserDebugLine(pt[4 + 2], pt[4 + 0], color, 1, parentObjectUniqueId=obj_id, parentLinkIndex=link_id) |
There was a problem hiding this comment.
there must be a way to clean this up...
kscale/store/pybullet.py
Outdated
Comment on lines
125
to
134
| pt = [ | ||
| [half_extents[0], half_extents[1], half_extents[2]], | ||
| [-half_extents[0], half_extents[1], half_extents[2]], | ||
| [half_extents[0], -half_extents[1], half_extents[2]], | ||
| [-half_extents[0], -half_extents[1], half_extents[2]], | ||
| [half_extents[0], half_extents[1], -half_extents[2]], | ||
| [-half_extents[0], half_extents[1], -half_extents[2]], | ||
| [half_extents[0], -half_extents[1], -half_extents[2]], | ||
| [-half_extents[0], -half_extents[1], -half_extents[2]], | ||
| ] |
There was a problem hiding this comment.
same here, probably can clean up
kscale/store/urdf.py
Outdated
Comment on lines
20
to
24
| def fetch_urdf_info(listing_id: str) -> dict: | ||
| url = f"https://api.kscale.store/urdf/info/{listing_id}" | ||
| response = requests.get(url) | ||
| response.raise_for_status() | ||
| return response.json() |
There was a problem hiding this comment.
i believe there should be a way to use the auto-generated pydantic types here so that you don't have untyped requests and responses, however, i haven't figured it out yet
kscale/store/urdf.py
Outdated
| filename = os.path.join(cache_dir, artifact_url.split("/")[-1]) | ||
|
|
||
| if not os.path.exists(filename): | ||
| logger.info(f"Downloading artifact from {artifact_url}") |
There was a problem hiding this comment.
nit: don't use format strings in logger messages
Suggested change
| logger.info(f"Downloading artifact from {artifact_url}") | |
| logger.info("Downloading artifact from %s", artifact_url) |
kscale/store/urdf.py
Outdated
| artifact_url = urdf_info["urdf"]["url"] | ||
| download_artifact(artifact_url, CACHE_DIR) | ||
| except requests.RequestException as e: | ||
| logger.error(f"Failed to fetch URDF info: {e}") |
kscale/store/urdf.py
Outdated
Comment on lines
91
to
92
| urdf_info = fetch_urdf_info(listing_id) | ||
| artifact_url = urdf_info["urdf"]["url"] |
There was a problem hiding this comment.
we should pre-parse with pydantic so we can use dot lookup instead of going by dict keys
kscale/store/urdf.py
Outdated
| logger.error(f"Failed to upload artifact: {e}") | ||
| sys.exit(1) | ||
| else: | ||
| print("Invalid command") |
There was a problem hiding this comment.
print statements make me sad :(
| [options.entry_points] | ||
|
|
||
| console_scripts = | ||
| kscale = kscale.store.cli:main |
setup.py
Outdated
| @@ -32,7 +32,7 @@ | |||
| url="https://github.com/kscalelabs/kscale", | |||
| long_description=long_description, | |||
| long_description_content_type="text/markdown", | |||
| python_requires=">=3.11", | |||
| # python_requires=">=3.11", | |||
There was a problem hiding this comment.
sad :( we should add this back
|
changed all but pydantic stuff |
…-- i think it's probably a problem on the fastapi end though
codekansas
approved these changes
Aug 20, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
URDF + Pybullet CLI. Closes #1
There is bug in /store. Downloaded files are given .stl when they are .obj. Results in invalid .stls