When you use get_client_lib to generate client library, rest format is the only option. So if you intend to generate a Rest client library, simply remove ".f rest" option. And you will get your Rest client without any problem.
If you want to use RPC client (which is currently only supported in iOS client). Please refer to https://developers.google.com/appengine/docs/python/endpoints/consume_ios for instruction.
I think one piece might be missing from the documentation above. In order to get the api-v1-rpc.discovery, you need to run get_discovery_doc command like following:
endpointscfg.py get_discovery_doc -o . -f rpc your_module.YourApi
Hope it helps.