The kscale CLI

The kscale CLI is what we use to interact with the K-Scale store (opens in a new tab). This will allow for users to download and upload URDF files completely through our CLI or through our website, with support for auto-fetching the latest version of URDF and mesh files from continually updating Onshape documents.

Installation

pip install kscale

Usage

kscale <subcommand> [options]

Where <subcommand> is either urdf or pybullet.

Subcommands

URDF

The urdf subcommand allows you to manage URDF (Unified Robot Description Format) files in the K-Scale store.

Usage:

kscale urdf <command> <artifact_id> [options]

Available commands:

• download: Download a URDF artifact from the K-Scale store.
• info: Display information about a URDF artifact.
• remove-local: Remove locally cached URDF files.

Examples

1. Download a URDF:

   kscale urdf download <artifact_id>

2. Get URDF information:

   kscale urdf info <artifact_id>

3. Remove local URDF cache:

   kscale urdf remove-local <artifact_id>
   kscale urdf remove-local all

PyBullet

The pybullet subcommand allows interaction with PyBullet functionalities. The specific commands and options for this subcommand are not provided in the given code snippet.

Usage:

kscale pybullet [options]

For detailed information on the available commands and options for the pybullet subcommand, please refer to the pybullet.py file or run:

kscale pybullet --help

Notes

• The CLI uses asynchronous operations for improved performance.
• An API key is required for certain operations. Set it as the KSCALE_API_KEY environment variable or in your config file.
• The CLI uses a local cache to store downloaded artifacts. The cache location can be configured in the settings.

For more detailed information on each command and its options, use the --help flag with any command or subcommand.