Add an option for skipping TLS verification

CHANGELOG.md

@@ -1,5 +1,12 @@
 # Changelog
 
+## 0.9.22 (2025-10-23)
+
+### Changes
+
+- Add an option for skipping TLS verification.
+- Allow redirects for HEAD and POST requests.
+
 ## 0.9.21 (2025-10-16)
 
 ### Changes

bin/mujin_webstackclientpy_applyconfig.py

@@ -239,6 +239,7 @@ def _RunMain():
     parser.add_argument('--force', action='store_true', dest='force', default=False, help='apply without confirmation [default=%(default)s]')
     parser.add_argument('--dryrun', action='store_true', dest='dryrun', default=False, help='shows differences and quit [default=%(default)s]')
     parser.add_argument('--oneline', action='store_true', dest='oneline', default=False, help='shows each difference in one line [default=%(default)s]')
+    parser.add_argument('--tlsSkipVerify', type=bool, default=True, help='Whether to skip TLS verification (default: %(default)s)')
     options = parser.parse_args()
 
     # configure logging
@@ -265,7 +266,7 @@ def _RunMain():
 
     # construct client
     if options.controller:
-        webstackclient = WebstackClient('http://%s' % options.controller, options.username, options.password)
+        webstackclient = WebstackClient('http://%s' % options.controller, options.username, options.password, tlsSkipVerify=options.tlsSkipVerify)
         webstackclient.Ping()
         config = webstackclient.GetConfig()
         target = webstackclient.controllerIp

bin/mujin_webstackclientpy_downloaddata.py

@@ -27,6 +27,7 @@ def _ParseArguments():
     parser.add_argument('--password', type=str, default='mujin', help='Password to login with (default: %(default)s)')
     parser.add_argument('--backupSceneFormat', type=str, default=None, help='The scene format to use in backup files, one of "msgpack", "json", or "yaml" (default: %(default)s)')
     parser.add_argument('--timeout', type=float, default=600, help='Timeout in seconds (default: %(default)s)')
+    parser.add_argument('--tlsSkipVerify', type=bool, default=True, help='Whether to skip TLS verification (default: %(default)s)')
     return parser.parse_args()
 
 
@@ -92,7 +93,7 @@ def _Main():
     options = _ParseArguments()
     _ConfigureLogging(options.loglevel)
 
-    webClient = _CreateWebstackClient(options.url, options.username, options.password)
+    webClient = _CreateWebstackClient(options.url, options.username, options.password, tlsSkipVerify=options.tlsSkipVerify)
     sceneList = _GetScenes(webClient)
     downloadDirectory = _DownloadBackup(webClient, sceneList, options.backupSceneFormat, timeout=options.timeout)
     print(downloadDirectory)  # other scripts can read stdout and learn the directory path

bin/mujin_webstackclientpy_runshell.py

@@ -17,6 +17,7 @@ def _ParseArguments():
     parser.add_argument('--url', type=str, default='http://localhost', help='URL of the controller (default: %(default)s)')
     parser.add_argument('--username', type=str, default='mujin', help='Username to login with (default: %(default)s)')
     parser.add_argument('--password', type=str, default='mujin', help='Password to login with (default: %(default)s)')
+    parser.add_argument('--tlsSkipVerify', type=bool, default=True, help='Whether to skip TLS verification (default: %(default)s)')
     return parser.parse_args()
 
 
@@ -33,7 +34,7 @@ def _Main():
     options = _ParseArguments()
     _ConfigureLogging(options.loglevel)
 
-    self = WebstackClient(options.url, options.username, options.password)
+    self = WebstackClient(options.url, options.username, options.password, tlsSkipVerify=options.tlsSkipVerify)
 
     # launch interactive shell
     from IPython.terminal import embed

python/mujinwebstackclient/controllerwebclientraw.py

@@ -169,6 +169,7 @@ def __init__(
         userAgent: Optional[str] = None,
         additionalHeaders: Optional[Dict[str, str]] = None,
         unixEndpoint: Optional[str] = None,
+        tlsSkipVerify: bool = False,
         warnOnUseFromDifferentThreads: bool = False,
     ) -> None:
         self._baseurl = baseurl
@@ -182,6 +183,7 @@ def __init__(
 
         # Create session
         self._session = requests.Session()
+        self._session.verify = not tlsSkipVerify
 
         # Use basic auth by default, use JWT if available
         self._session.auth = JSONWebTokenAuth(self._username, self._password)
@@ -278,7 +280,7 @@ def Request(
 
         if 'allow_redirects' not in kwargs:
             # by default, disallow redirect since DELETE with redirection is too dangerous
-            kwargs['allow_redirects'] = method in ('GET',)
+            kwargs['allow_redirects'] = method in ('HEAD', 'GET', 'POST')
 
         if self._threadName is not None:
             currentName = threading.current_thread().name

python/mujinwebstackclient/version.py

@@ -1,3 +1,3 @@
-__version__ = '0.9.21'
+__version__ = '0.9.22'
 
 # Do not forget to update CHANGELOG.md

python/mujinwebstackclient/webstackclient.py

@@ -112,7 +112,7 @@ def offset(self):
     _webclient = None
     _userinfo = None  # A dict storing user info, like locale
 
-    controllerurl = ''  # URl to controller
+    controllerurl = ''  # URL to controller
     controllerusername = ''  # Username to login with
     controllerpassword = ''  # Password to login with
 
@@ -128,6 +128,7 @@ def __init__(
         userAgent=None,
         additionalHeaders=None,
         unixEndpoint=None,
+        tlsSkipVerify: bool = True,
         warnOnUseFromDifferentThreads: bool = False,
     ):
         """Logs into the Mujin controller.
@@ -139,6 +140,7 @@ def __init__(
             userAgent (str): User agent to be sent on each request
             additionalHeaders (dict): Additional HTTP headers to be included in requests
             unixEndpoint (str): Unix socket endpoint for communicating with HTTP server over unix socket
+            tlsSkipVerify (bool): Whether to skip TLS verification
             warnOnUseFromDifferentThreads (bool): Whether to warn callers if the client is used from different threads.
                 Defaults to not warning since checking the thread name on each call may significantly degrade performance.
         """
@@ -175,6 +177,7 @@ def __init__(
             userAgent=userAgent,
             additionalHeaders=additionalHeaders,
             unixEndpoint=unixEndpoint,
+            tlsSkipVerify=tlsSkipVerify,
             warnOnUseFromDifferentThreads=warnOnUseFromDifferentThreads,
         )