Urdf upload

frontend/src/components/listing/ListingArtifacts.tsx

@@ -8,6 +8,7 @@ import Spinner from "components/ui/Spinner";
 
 import ListingImages from "./ListingImages";
 import ListingSTLs from "./ListingSTLs";
+import ListingURDFs from "./ListingURDFs";
 
 interface Props {
   listingId: string;
@@ -57,6 +58,11 @@ const ListingArtifacts = (props: Props) => {
         allArtifacts={artifacts}
       />
       <ListingSTLs listingId={listingId} edit={edit} allArtifacts={artifacts} />
+      <ListingURDFs
+        listingId={listingId}
+        edit={edit}
+        allArtifacts={artifacts}
+      />
     </div>
   );
 };

frontend/src/components/listing/ListingURDFs.tsx

@@ -0,0 +1,123 @@
+import { useState } from "react";
+import { FaCaretSquareDown, FaCaretSquareUp, FaTimes } from "react-icons/fa";
+import { Link } from "react-router-dom";
+
+import { components } from "gen/api";
+import { useAlertQueue } from "hooks/useAlertQueue";
+import { useAuthentication } from "hooks/useAuth";
+
+import ListingFileUpload from "components/listing/ListingFileUpload";
+import { Button } from "components/ui/Button/Button";
+
+interface SingleURDFViewerProps {
+  url: string;
+  name: string;
+}
+
+const SingleURDFViewer = (props: SingleURDFViewerProps) => {
+  const { url, name } = props;
+
+  return (
+    <Link to={url} className="link">
+      {name}
+    </Link>
+  );
+};
+
+interface Props {
+  listingId: string;
+  edit: boolean;
+  allArtifacts: components["schemas"]["ListArtifactsResponse"]["artifacts"];
+}
+
+const ListingURDFs = (props: Props) => {
+  const { listingId, edit, allArtifacts } = props;
+
+  const auth = useAuthentication();
+  const { addErrorAlert } = useAlertQueue();
+
+  const [URDFs, setURDFs] = useState<
+    components["schemas"]["ListArtifactsResponse"]["artifacts"]
+  >(allArtifacts.filter((a) => a.artifact_type === "urdf"));
+  const [deletingIds, setDeletingIds] = useState<string[]>([]);
+  const [collapsed, setCollapsed] = useState<boolean>(true);
+
+  const onDelete = async (urdfId: string) => {
+    setDeletingIds([...deletingIds, urdfId]);
+
+    const { error } = await auth.client.DELETE(
+      "/artifacts/delete/{artifact_id}",
+      {
+        params: {
+          path: { artifact_id: urdfId },
+        },
+      },
+    );
+
+    if (error) {
+      addErrorAlert(error);
+    } else {
+      setURDFs(URDFs.filter((urdf) => urdf.artifact_id !== urdfId));
+      setDeletingIds(deletingIds.filter((id) => id !== urdfId));
+    }
+  };
+
+  return URDFs.length > 0 || edit ? (
+    <div className="flex flex-col items-center justify-center my-4 p-4 relative">
+      {URDFs.length > 0 ? (
+        <>
+          <Button
+            onClick={() => setCollapsed(!collapsed)}
+            variant="outline"
+            className="mt-2 mb-4 text-md p-4"
+          >
+            URDFs
+            {collapsed ? (
+              <FaCaretSquareUp className="ml-4 text-gray-700" />
+            ) : (
+              <FaCaretSquareDown className="ml-4 text-gray-700" />
+            )}
+          </Button>
+          {!collapsed && (
+            <div className="grid sm:grid-cols-1 md:grid-cols-2 lg:grid-cols-3 gap-2 justify-between w-full">
+              {URDFs.map((urdf) => (
+                <div key={urdf.artifact_id} className="bg-background p-2">
+                  <SingleURDFViewer url={urdf.url} name={urdf.name} />
+                  {edit && (
+                    <Button
+                      onClick={() => onDelete(urdf.artifact_id)}
+                      variant="destructive"
+                      className="ml-2"
+                      disabled={deletingIds.includes(urdf.artifact_id)}
+                    >
+                      <FaTimes />
+                    </Button>
+                  )}
+                </div>
+              ))}
+            </div>
+          )}
+        </>
+      ) : (
+        <p>
+          <strong>URDFs</strong>
+        </p>
+      )}
+      {edit && (
+        <ListingFileUpload
+          artifactType="urdf"
+          fileExtensions={[".tar.gz"]}
+          maxSize={100 * 1024 * 1024}
+          listingId={listingId}
+          onUpload={(artifact) => {
+            setURDFs([...URDFs, artifact.artifact]);
+          }}
+        />
+      )}
+    </div>
+  ) : (
+    <></>
+  );
+};
+
+export default ListingURDFs;

store/app/crud/artifacts.py

@@ -4,7 +4,6 @@
 import io
 import logging
 from typing import Any, BinaryIO, Literal
-from xml.etree import ElementTree as ET
 
 from PIL import Image
 from stl import Mode as STLMode, mesh as stlmesh
@@ -21,7 +20,6 @@
     get_content_type,
 )
 from store.settings import settings
-from store.utils import save_xml
 
 logger = logging.getLogger(__name__)
 
@@ -134,7 +132,7 @@ async def _upload_stl(
         )
         return artifact
 
-    async def _upload_xml(
+    async def _upload_tar_gz(
         self,
         name: str,
         file: io.BytesIO | BinaryIO,
@@ -146,19 +144,6 @@ async def _upload_xml(
         if listing.user_id != user_id:
             raise NotAuthorizedError("User does not have permission to upload artifacts to this listing")
 
-        # Standardizes the XML file.
-        try:
-            tree = ET.parse(file)
-        except Exception:
-            raise BadArtifactError("Invalid XML file")
-
-        # TODO: Remap the STL or OBJ file paths.
-
-        # Converts to byte stream.
-        out_file = io.BytesIO()
-        save_xml(out_file, tree)
-        out_file.seek(0)
-
         # Saves the artifact to S3.
         content_type = get_content_type(artifact_type)
         artifact = Artifact.create(
@@ -189,7 +174,7 @@ async def upload_artifact(
             case "stl":
                 return await self._upload_stl(name, file, listing, user_id, description)
             case "urdf" | "mjcf":
-                return await self._upload_xml(name, file, listing, user_id, artifact_type, description)
+                return await self._upload_tar_gz(name, file, listing, user_id, artifact_type, description)
             case _:
                 raise BadArtifactError(f"Invalid artifact type: {artifact_type}")
 

store/app/model.py

@@ -119,8 +119,8 @@ def create(cls, user_id: str, source: APIKeySource, permissions: APIKeyPermissio
     # Image
     "image": {"image/png", "image/jpeg", "image/jpg", "image/gif", "image/webp"},
     # XML
-    "urdf": {"application/xml"},
-    "mjcf": {"application/xml"},
+    "urdf": {"application/gzip"},
+    "mjcf": {"application/gzip"},
     # Binary or text
     "stl": {"application/octet-stream", "text/xml"},
 }
@@ -129,8 +129,8 @@ def create(cls, user_id: str, source: APIKeySource, permissions: APIKeyPermissio
     # Image
     "image": "image/png",
     # XML
-    "urdf": "application/xml",
-    "mjcf": "application/xml",
+    "urdf": "application/gzip",
+    "mjcf": "application/gzip",
     # Binary
     "stl": "application/octet-stream",
 }
@@ -149,9 +149,9 @@ def get_artifact_name(id: str, artifact_type: ArtifactType, size: ArtifactSize =
             height, width = SizeMapping[size]
             return f"{id}_{size}_{height}x{width}.png"
         case "urdf":
-            return f"{id}.urdf"
+            return f"{id}.tar.gz"
         case "mjcf":
-            return f"{id}.xml"
+            return f"{id}.tar.gz"
         case "stl":
             return f"{id}.stl"
         case _: