kscale 0.3.11__py3-none-any.whl → 0.3.13__py3-none-any.whl

kscale/__init__.py

@@ -1,6 +1,6 @@
 """Defines the common interface for the K-Scale Python API."""
 
-__version__ = "0.3.11"
+__version__ = "0.3.13"
 
 from pathlib import Path
 

kscale/web/cli/robot_class.py

@@ -41,10 +41,11 @@ async def list() -> None:
                 click.style(rc.id, fg="blue"),
                 click.style(rc.class_name, fg="green"),
                 rc.description or "N/A",
+                "N/A" if rc.num_downloads is None else f"{rc.num_downloads:,}",
             ]
             for rc in robot_classes
         ]
-        click.echo(tabulate(table_data, headers=["ID", "Name", "Description"], tablefmt="simple"))
+        click.echo(tabulate(table_data, headers=["ID", "Name", "Description", "Downloads"], tablefmt="simple"))
     else:
         click.echo(click.style("No robot classes found", fg="red"))
 

kscale/web/clients/base.py

@@ -9,7 +9,7 @@ import sys
 import time
 import webbrowser
 from types import TracebackType
-from typing import Any, Self, Type
+from typing import Any, Mapping, Self, Type
 from urllib.parse import urljoin
 
 import aiohttp
@@ -363,6 +363,7 @@ class BaseClient:
         params: dict[str, Any] | None = None,
         data: BaseModel | dict[str, Any] | None = None,
         files: dict[str, Any] | None = None,
+        error_code_suggestions: dict[int, str] | None = None,
     ) -> dict[str, Any]:
         url = urljoin(self.base_url, endpoint)
         kwargs: dict[str, Any] = {}
@@ -380,12 +381,27 @@ class BaseClient:
         response = await client.request(method, url, **kwargs)
 
         if response.is_error:
-            logger.error("Got %d error K-Scale: %s", response.status_code, response.text)
-            if verbose_error():
+            error_code = response.status_code
+            error_json = response.json()
+            use_verbose_error = verbose_error()
+
+            if not use_verbose_error:
+                logger.info("Use KSCALE_VERBOSE_ERROR=1 to see the full error message")
+                logger.info("If this persists, please create an issue here: https://github.com/kscalelabs/kscale")
+
+            logger.error("Got error %d from the K-Scale API", error_code)
+            if isinstance(error_json, Mapping):
+                for key, value in error_json.items():
+                    logger.error("  [%s] %s", key, value)
+            else:
+                logger.error("  %s", error_json)
+
+            if error_code_suggestions is not None and error_code in error_code_suggestions:
+                logger.error("Hint: %s", error_code_suggestions[error_code])
+
+            if use_verbose_error:
                 response.raise_for_status()
             else:
-                logger.error("Use KSCALE_VERBOSE_ERROR=1 to see the full error message")
-                logger.error("If this persists, please create an issue here: https://github.com/kscalelabs/kscale")
                 sys.exit(1)
 
         return response.json()

kscale/web/clients/robot_class.py

@@ -3,6 +3,7 @@
 import hashlib
 import json
 import logging
+import shutil
 import tarfile
 from pathlib import Path
 from typing import Any
@@ -31,7 +32,7 @@ class RobotClassClient(BaseClient):
         data = await self._request(
             "GET",
             "/robots/",
-            auth=True,
+            auth=False,
         )
         return [RobotClass.model_validate(item) for item in data]
 
@@ -39,7 +40,7 @@ class RobotClassClient(BaseClient):
         data = await self._request(
             "GET",
             f"/robots/name/{class_name}",
-            auth=True,
+            auth=False,
         )
         return RobotClass.model_validate(data)
 
@@ -117,7 +118,12 @@ class RobotClassClient(BaseClient):
         cache_path = get_robots_dir() / class_name / "robot.tgz"
         if cache and cache_path.exists() and not should_refresh_file(cache_path):
             return cache_path
-        data = await self._request("GET", f"/robots/urdf/{class_name}", auth=True)
+        data = await self._request(
+            "GET",
+            f"/robots/urdf/{class_name}",
+            auth=False,
+            error_code_suggestions={404: "Use `kscale robot list` to view classes."},
+        )
         response = RobotDownloadURDFResponse.model_validate(data)
         expected_hash = response.md5_hash
         cache_path.parent.mkdir(parents=True, exist_ok=True)
@@ -166,9 +172,16 @@ class RobotClassClient(BaseClient):
 
         # Unpacks the file if requested.
         unpack_path = cache_path.parent / "robot"
-        unpack_path.mkdir(parents=True, exist_ok=True)
         unpacked_path_info = unpack_path / INFO_FILE_NAME
 
+        if not cache:
+            # If not using cache, remove the existing unpacked directory.
+            if unpack_path.exists():
+                logger.info("Removing existing unpacked directory")
+                shutil.rmtree(unpack_path)
+
+        unpack_path.mkdir(parents=True, exist_ok=True)
+
         # If the file has already been unpacked, return the path.
         if unpacked_path_info.exists():
             with open(unpacked_path_info, "r") as f:

kscale/web/gen/api.py

@@ -2,7 +2,7 @@
 
 # generated by datamodel-codegen:
 #   filename:  openapi.json
-#   timestamp: 2025-01-22T23:12:27+00:00
+#   timestamp: 2025-05-04T22:45:26+00:00
 
 from __future__ import annotations
 
@@ -19,6 +19,40 @@ class APIKeyResponse(BaseModel):
     api_key: str = Field(..., title="Api Key")
 
 
+class ActuatorMetadataInput(BaseModel):
+    actuator_type: Optional[str] = Field(None, title="Actuator Type")
+    sysid: Optional[str] = Field(None, title="Sysid")
+    max_torque: Optional[Union[float, str]] = Field(None, title="Max Torque")
+    armature: Optional[Union[float, str]] = Field(None, title="Armature")
+    damping: Optional[Union[float, str]] = Field(None, title="Damping")
+    frictionloss: Optional[Union[float, str]] = Field(None, title="Frictionloss")
+    vin: Optional[Union[float, str]] = Field(None, title="Vin")
+    kt: Optional[Union[float, str]] = Field(None, title="Kt")
+    R: Optional[Union[float, str]] = Field(None, title="R")
+    vmax: Optional[Union[float, str]] = Field(None, title="Vmax")
+    amax: Optional[Union[float, str]] = Field(None, title="Amax")
+    max_velocity: Optional[Union[float, str]] = Field(None, title="Max Velocity")
+    max_pwm: Optional[Union[float, str]] = Field(None, title="Max Pwm")
+    error_gain: Optional[Union[float, str]] = Field(None, title="Error Gain")
+
+
+class ActuatorMetadataOutput(BaseModel):
+    actuator_type: Optional[str] = Field(None, title="Actuator Type")
+    sysid: Optional[str] = Field(None, title="Sysid")
+    max_torque: Optional[str] = Field(None, title="Max Torque")
+    armature: Optional[str] = Field(None, title="Armature")
+    damping: Optional[str] = Field(None, title="Damping")
+    frictionloss: Optional[str] = Field(None, title="Frictionloss")
+    vin: Optional[str] = Field(None, title="Vin")
+    kt: Optional[str] = Field(None, title="Kt")
+    R: Optional[str] = Field(None, title="R")
+    vmax: Optional[str] = Field(None, title="Vmax")
+    amax: Optional[str] = Field(None, title="Amax")
+    max_velocity: Optional[str] = Field(None, title="Max Velocity")
+    max_pwm: Optional[str] = Field(None, title="Max Pwm")
+    error_gain: Optional[str] = Field(None, title="Error Gain")
+
+
 class AddRobotClassRequest(BaseModel):
     description: Optional[str] = Field(None, title="Description")
 
@@ -37,8 +71,8 @@ class JointMetadataInput(BaseModel):
     offset: Optional[Union[float, str]] = Field(None, title="Offset")
     flipped: Optional[bool] = Field(None, title="Flipped")
     actuator_type: Optional[str] = Field(None, title="Actuator Type")
-    nn_id: Optional[int] = Field(None, title="Neural Network Id")
-    soft_torque_limit: Optional[str] = Field(None, title="Soft Torque Limit")
+    nn_id: Optional[int] = Field(None, title="Nn Id")
+    soft_torque_limit: Optional[Union[float, str]] = Field(None, title="Soft Torque Limit")
 
 
 class JointMetadataOutput(BaseModel):
@@ -50,7 +84,7 @@ class JointMetadataOutput(BaseModel):
     offset: Optional[str] = Field(None, title="Offset")
     flipped: Optional[bool] = Field(None, title="Flipped")
     actuator_type: Optional[str] = Field(None, title="Actuator Type")
-    nn_id: Optional[int] = Field(None, title="Neural Network Id")
+    nn_id: Optional[int] = Field(None, title="Nn Id")
     soft_torque_limit: Optional[str] = Field(None, title="Soft Torque Limit")
 
 
@@ -82,11 +116,17 @@ class RobotResponse(BaseModel):
 
 class RobotURDFMetadataInput(BaseModel):
     joint_name_to_metadata: Optional[Dict[str, JointMetadataInput]] = Field(None, title="Joint Name To Metadata")
+    actuator_type_to_metadata: Optional[Dict[str, ActuatorMetadataInput]] = Field(
+        None, title="Actuator Type To Metadata"
+    )
     control_frequency: Optional[Union[float, str]] = Field(None, title="Control Frequency")
 
 
 class RobotURDFMetadataOutput(BaseModel):
     joint_name_to_metadata: Optional[Dict[str, JointMetadataOutput]] = Field(None, title="Joint Name To Metadata")
+    actuator_type_to_metadata: Optional[Dict[str, ActuatorMetadataOutput]] = Field(
+        None, title="Actuator Type To Metadata"
+    )
     control_frequency: Optional[str] = Field(None, title="Control Frequency")
 
 
@@ -141,3 +181,4 @@ class RobotClass(BaseModel):
     description: str = Field(..., title="Description")
     user_id: str = Field(..., title="User Id")
     metadata: Optional[RobotURDFMetadataOutput] = None
+    num_downloads: Optional[int] = Field(0, title="Num Downloads")

{kscale-0.3.11.dist-info → kscale-0.3.13.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: kscale
-Version: 0.3.11
+Version: 0.3.13
 Summary: The kscale project
 Home-page: https://github.com/kscalelabs/kscale
 Author: Benjamin Bolte
@@ -55,7 +55,7 @@ Dynamic: summary
 
 # K-Scale Command Line Interface
 
-This is a command line tool for interacting with various services provided by K-Scale Labs. For more information, see the [documentation](https://docs.kscale.dev/pkg/intro).
+This is a command line tool for interacting with various services provided by K-Scale Labs. For more information, see the [documentation](https://docs.kscale.dev/docs/k-scale-api).
 
 ## Installation
 

{kscale-0.3.11.dist-info → kscale-0.3.13.dist-info}/RECORD

@@ -1,4 +1,4 @@
-kscale/__init__.py,sha256=6YWQz-S1hHb0tE-dX6V50gXseGHKNwAZwOgB9UiBRH0,201
+kscale/__init__.py,sha256=blW9DBfEkhee_kJYnE9wcIWBY9iWvKHkO1_CoKimPU8,201
 kscale/cli.py,sha256=JvaPtmWvF7s0D4I3K98eZAItf3oOi2ULsn5aPGxDcu4,795
 kscale/conf.py,sha256=dm35XSnzJp93St-ixVtYN4Nvqvb5upPGBrWkSI6Yb-4,1743
 kscale/py.typed,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
@@ -15,19 +15,19 @@ 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=DLB5ok69JAeUUeA7Yy80VmyZGFt9dKf8kD0vSBMmqP8,18987
+kscale/web/cli/robot_class.py,sha256=Gzg1NTD1iDf04jPVRz_fCKVAjnQ3pmA7dB3KmUjxXwk,19080
 kscale/web/cli/user.py,sha256=9IGsJBPyhjsmT04mZ2RGOs35ePfqB2RltYP0Ty5zF5o,1290
 kscale/web/clients/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-kscale/web/clients/base.py,sha256=ThQakuvGh7CquiGQ4wiCyCWAgqmKInsJcANo910X9Uw,15585
+kscale/web/clients/base.py,sha256=P5AZdoawNpocgx_8j5v0eauowG5suUf8SnnD7q1_gx0,16213
 kscale/web/clients/client.py,sha256=rzW2s8T7bKVuybOSQ65-ghl02rcXBoOxnx_nUDwgEPw,362
 kscale/web/clients/robot.py,sha256=PI8HHkU-4Re9I5rLpp6dGbekRE-rBNVfXZxR_mO2MqE,1485
-kscale/web/clients/robot_class.py,sha256=G8Nk6V7LGJE9Wpg9tyyCkIfz1fRTsxXQRgHtleiUVqo,6834
+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=5ewJxWGGfVfaEdKyUbaHrkn36GnWV_IGcl5KSgP4pRg,5090
-kscale-0.3.11.dist-info/licenses/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
-kscale-0.3.11.dist-info/METADATA,sha256=WPRIutVSok3_QB4G78rCGNoSm-6i9eZoT0eql1d-Pv4,2343
-kscale-0.3.11.dist-info/WHEEL,sha256=wXxTzcEDnjrTwFYjLPcsW_7_XihufBwmpiBeiXNBGEA,91
-kscale-0.3.11.dist-info/entry_points.txt,sha256=N_0pCpPnwGDYVzOeuaSOrbJkS5L3lS9d8CxpJF1f8UI,62
-kscale-0.3.11.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
-kscale-0.3.11.dist-info/RECORD,,
+kscale/web/gen/api.py,sha256=QwyayqHVz7FFgDQO7IJFMN9MxtKpJPemiTMAk6aCEQE,7299
+kscale-0.3.13.dist-info/licenses/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
+kscale-0.3.13.dist-info/METADATA,sha256=MBCGy62OjZbOcDo-culQK6K62vtR1kIDshurzWkp768,2350
+kscale-0.3.13.dist-info/WHEEL,sha256=0CuiUZ_p9E4cD6NyLD6UG80LBXYyiSYZOKDm5lp32xk,91
+kscale-0.3.13.dist-info/entry_points.txt,sha256=N_0pCpPnwGDYVzOeuaSOrbJkS5L3lS9d8CxpJF1f8UI,62
+kscale-0.3.13.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
+kscale-0.3.13.dist-info/RECORD,,

{kscale-0.3.11.dist-info → kscale-0.3.13.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.1.0)
+Generator: setuptools (80.3.1)
 Root-Is-Purelib: true
 Tag: py3-none-any