kscale 0.3.14__py3-none-any.whl → 0.3.16__py3-none-any.whl

kscale/__init__.py

@@ -1,6 +1,6 @@
 """Defines the common interface for the K-Scale Python API."""
 
-__version__ = "0.3.14"
+__version__ = "0.3.16"
 
 from pathlib import Path
 

kscale/web/cli/robot_class.py

@@ -442,15 +442,23 @@ async def run_pybullet(
 
 @urdf.command("mujoco")
 @click.argument("class_name")
+@click.option("--scene", type=str, default="smooth")
 @click.option("--no-cache", is_flag=True, default=False)
 @coro
-async def run_mujoco(class_name: str, no_cache: bool) -> None:
+async def run_mujoco(class_name: str, scene: str, no_cache: bool) -> None:
     """Shows the URDF file for a robot class in Mujoco.
 
     This command downloads and extracts the robot class URDF folder,
     searches for an MJCF file (unless --mjcf-path is provided), and then
     launches the Mujoco viewer using the provided MJCF file.
     """
+    try:
+        from mujoco_scenes.errors import TemplateNotFoundError
+        from mujoco_scenes.mjcf import list_scenes, load_mjmodel
+    except ImportError:
+        click.echo(click.style("Mujoco Scenes is required; install with `pip install mujoco-scenes`", fg="red"))
+        return
+
     try:
         import mujoco.viewer
     except ImportError:
@@ -474,7 +482,12 @@ async def run_mujoco(class_name: str, no_cache: bool) -> None:
 
     mjcf_path_str = str(mjcf_file.resolve())
     click.echo(f"Launching Mujoco viewer with: {click.style(mjcf_path_str, fg='green')}")
-    mujoco.viewer.launch_from_path(mjcf_path_str)
+    try:
+        model = load_mjmodel(mjcf_path_str, scene)
+    except TemplateNotFoundError:
+        click.echo(click.style(f"Failed to load scene {scene}. Available scenes: {', '.join(list_scenes())}", fg="red"))
+        return
+    mujoco.viewer.launch(model)
 
 
 if __name__ == "__main__":

kscale/web/gen/api.py

@@ -2,7 +2,7 @@
 
 # generated by datamodel-codegen:
 #   filename:  openapi.json
-#   timestamp: 2025-05-04T22:45:26+00:00
+#   timestamp: 2025-05-24T14:48:07+00:00
 
 from __future__ import annotations
 
@@ -73,6 +73,8 @@ class JointMetadataInput(BaseModel):
     actuator_type: Optional[str] = Field(None, title="Actuator Type")
     nn_id: Optional[int] = Field(None, title="Nn Id")
     soft_torque_limit: Optional[Union[float, str]] = Field(None, title="Soft Torque Limit")
+    min_angle_deg: Optional[Union[float, str]] = Field(None, title="Min Angle Deg")
+    max_angle_deg: Optional[Union[float, str]] = Field(None, title="Max Angle Deg")
 
 
 class JointMetadataOutput(BaseModel):
@@ -86,6 +88,8 @@ class JointMetadataOutput(BaseModel):
     actuator_type: Optional[str] = Field(None, title="Actuator Type")
     nn_id: Optional[int] = Field(None, title="Nn Id")
     soft_torque_limit: Optional[str] = Field(None, title="Soft Torque Limit")
+    min_angle_deg: Optional[str] = Field(None, title="Min Angle Deg")
+    max_angle_deg: Optional[str] = Field(None, title="Max Angle Deg")
 
 
 class OICDInfo(BaseModel):

{kscale-0.3.14.dist-info → kscale-0.3.16.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: kscale
-Version: 0.3.14
+Version: 0.3.16
 Summary: The kscale project
 Home-page: https://github.com/kscalelabs/kscale
 Author: Benjamin Bolte

{kscale-0.3.14.dist-info → kscale-0.3.16.dist-info}/RECORD

@@ -1,4 +1,4 @@
-kscale/__init__.py,sha256=CI3ZkHh1L_ganGibS7BISfEBn-DWtyOS7xtodf-o3bM,201
+kscale/__init__.py,sha256=5x-_pHWpOD5zG1UOxmRMHWvFPV0wM_MPn7MhE8xYFgg,201
 kscale/cli.py,sha256=JvaPtmWvF7s0D4I3K98eZAItf3oOi2ULsn5aPGxDcu4,795
 kscale/conf.py,sha256=dm35XSnzJp93St-ixVtYN4Nvqvb5upPGBrWkSI6Yb-4,1743
 kscale/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -15,7 +15,7 @@ kscale/web/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 kscale/web/utils.py,sha256=Mme-FAQ0_zbjjOQeX8wyq8F4kL4i9fH7ytri16U6qOA,1046
 kscale/web/cli/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 kscale/web/cli/robot.py,sha256=rI-A4_0uvJPeA71Apl4Z3mV5fIfWkgmzT9JRmJYxz3A,3307
-kscale/web/cli/robot_class.py,sha256=Gzg1NTD1iDf04jPVRz_fCKVAjnQ3pmA7dB3KmUjxXwk,19080
+kscale/web/cli/robot_class.py,sha256=dOmB1z1l0bkSXnwgb4M6kbcJpHV4YAdT9l_po83C05w,19647
 kscale/web/cli/user.py,sha256=9IGsJBPyhjsmT04mZ2RGOs35ePfqB2RltYP0Ty5zF5o,1290
 kscale/web/clients/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 kscale/web/clients/base.py,sha256=P5AZdoawNpocgx_8j5v0eauowG5suUf8SnnD7q1_gx0,16213
@@ -24,10 +24,10 @@ kscale/web/clients/robot.py,sha256=PI8HHkU-4Re9I5rLpp6dGbekRE-rBNVfXZxR_mO2MqE,1
 kscale/web/clients/robot_class.py,sha256=LCKje6nNsDBeKDxZAGCO9vQXdyOwtx0woMmB5vDoUmE,7230
 kscale/web/clients/user.py,sha256=jsa1_s6qXRM-AGBbHlPhd1NierUtynjY9tVAPNr6_Os,568
 kscale/web/gen/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-kscale/web/gen/api.py,sha256=QwyayqHVz7FFgDQO7IJFMN9MxtKpJPemiTMAk6aCEQE,7299
-kscale-0.3.14.dist-info/licenses/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
-kscale-0.3.14.dist-info/METADATA,sha256=122g9R1L0exAAnBPFwyvw_reyYthhPwwTiTVgytnhVY,2350
-kscale-0.3.14.dist-info/WHEEL,sha256=0CuiUZ_p9E4cD6NyLD6UG80LBXYyiSYZOKDm5lp32xk,91
-kscale-0.3.14.dist-info/entry_points.txt,sha256=N_0pCpPnwGDYVzOeuaSOrbJkS5L3lS9d8CxpJF1f8UI,62
-kscale-0.3.14.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
-kscale-0.3.14.dist-info/RECORD,,
+kscale/web/gen/api.py,sha256=eV_IiF6-RhD7fd8naqKwK56bQtG1_-XVlr5PMpYr38E,7607
+kscale-0.3.16.dist-info/licenses/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
+kscale-0.3.16.dist-info/METADATA,sha256=cI35QIX6j-cVeWr_if6dv-5EQIneJk3jsqd_72Nph94,2350
+kscale-0.3.16.dist-info/WHEEL,sha256=zaaOINJESkSfm_4HQVc5ssNzHCPXhJm0kEUakpsEHaU,91
+kscale-0.3.16.dist-info/entry_points.txt,sha256=N_0pCpPnwGDYVzOeuaSOrbJkS5L3lS9d8CxpJF1f8UI,62
+kscale-0.3.16.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
+kscale-0.3.16.dist-info/RECORD,,

{kscale-0.3.14.dist-info → kscale-0.3.16.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.3.1)
+Generator: setuptools (80.8.0)
 Root-Is-Purelib: true
 Tag: py3-none-any