kscale 0.3.12__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__ = "0.3.12"
+__version__ = "0.3.13"
 
 from pathlib import Path
 

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
@@ -171,9 +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: 2025-05-03T21:02:12+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")
 
@@ -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")
 
 

{kscale-0.3.12.dist-info → kscale-0.3.13.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: kscale
-Version: 0.3.12
+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-0.3.12.dist-info → kscale-0.3.13.dist-info}/RECORD

@@ -1,4 +1,4 @@
-kscale/__init__.py,sha256=dvs5DUTbLSWgAycehACzl60WVsJdFN7yCMHoTvxFI38,201
+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
@@ -21,13 +21,13 @@ kscale/web/clients/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuF
 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=mgA-95P8lR0eCIF7-9f7oPE5tQ8tYLOIU7a83dFiqCs,6970
+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=VSTHOLFtsjH_9mGYChW0iDbtX5FlLU8Itz5MzDb4maE,5147
-kscale-0.3.12.dist-info/licenses/LICENSE,sha256=HCN2bImAzUOXldAZZI7JZ9PYq6OwMlDAP_PpX1HnuN0,1071
-kscale-0.3.12.dist-info/METADATA,sha256=Pqgb5F9FCKrg6aoVgzHzmqKTT229TOMWOBqOa1e9SfM,2343
-kscale-0.3.12.dist-info/WHEEL,sha256=GHB6lJx2juba1wDgXDNlMTyM13ckjBMKf-OnwgKOCtA,91
-kscale-0.3.12.dist-info/entry_points.txt,sha256=N_0pCpPnwGDYVzOeuaSOrbJkS5L3lS9d8CxpJF1f8UI,62
-kscale-0.3.12.dist-info/top_level.txt,sha256=C2ynjYwopg6YjgttnI2dJjasyq3EKNmYp-IfQg9Xms4,7
-kscale-0.3.12.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-0.3.12.dist-info → kscale-0.3.13.dist-info}/WHEEL

@@ -1,5 +1,5 @@
 Wheel-Version: 1.0
-Generator: setuptools (80.3.0)
+Generator: setuptools (80.3.1)
 Root-Is-Purelib: true
 Tag: py3-none-any