kscale 0.3.4__tar.gz → 0.3.6__tar.gz

{kscale-0.3.4/kscale.egg-info → kscale-0.3.6}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: kscale
-Version: 0.3.4
+Version: 0.3.6
 Summary: The kscale project
 Home-page: https://github.com/kscalelabs/kscale
 Author: Benjamin Bolte

{kscale-0.3.4 → kscale-0.3.6}/kscale/__init__.py

@@ -1,6 +1,6 @@
 """Defines the common interface for the K-Scale Python API."""
 
-__version__ = "0.3.4"
+__version__ = "0.3.6"
 
 from pathlib import Path
 

{kscale-0.3.4 → kscale-0.3.6}/kscale/web/cli/robot_class.py

@@ -145,12 +145,12 @@ async def upload(class_name: str, urdf_file: str) -> None:
 
 @urdf.command()
 @click.argument("class_name")
-@click.option("--no-cache", is_flag=True, default=False)
+@click.option("--cache", is_flag=True, default=False)
 @coro
-async def download(class_name: str, no_cache: bool) -> None:
+async def download(class_name: str, cache: bool) -> None:
     """Downloads a URDF file from a robot class."""
     async with RobotClassClient() as client:
-        urdf_file = await client.download_compressed_urdf(class_name, cache=not no_cache)
+        urdf_file = await client.download_and_extract_urdf(class_name, cache=cache)
     click.echo(f"URDF downloaded: {click.style(urdf_file, fg='green')}")
 
 
@@ -432,5 +432,40 @@ async def pybullet(
         last_time = cur_time
 
 
+@urdf.command()
+@click.argument("class_name")
+@click.option("--no-cache", is_flag=True, default=False)
+@coro
+async def mujoco(class_name: 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.viewer import launch_from_path
+    except ImportError:
+        click.echo(
+            click.style(
+                "Mujoco and mujoco-python-viewer are required; install with `pip install mujoco mujoco-python-viewer`",
+                fg="red",
+            )
+        )
+        return
+
+    async with RobotClassClient() as client:
+        extracted_folder = await client.download_and_extract_urdf(class_name, cache=not no_cache)
+
+    try:
+        mjcf_file = next(extracted_folder.glob("*.mjcf"))
+    except StopIteration:
+        click.echo(click.style(f"No MJCF file found in {extracted_folder}", fg="red"))
+        return
+
+    click.echo(f"Launching Mujoco viewer with: {click.style(str(mjcf_file.resolve()), fg='green')}")
+    launch_from_path(str(mjcf_file.resolve()))
+
+
 if __name__ == "__main__":
     cli()

{kscale-0.3.4 → kscale-0.3.6/kscale.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.2
 Name: kscale
-Version: 0.3.4
+Version: 0.3.6
 Summary: The kscale project
 Home-page: https://github.com/kscalelabs/kscale
 Author: Benjamin Bolte

{kscale-0.3.4 → kscale-0.3.6}/pyproject.toml

@@ -33,8 +33,9 @@ namespace_packages = false
 [[tool.mypy.overrides]]
 
 module = [
-    "setuptools",
+    "mujoco.*",
     "pybullet.*",
+    "setuptools",
     "tabulate.*",
 ]
 ignore_missing_imports = true