crisp-python 1.2.3__tar.gz → 1.3.0__tar.gz

crisp_python-1.3.0/MANIFEST.in

@@ -0,0 +1,3 @@
+recursive-include crisp_py/config *.yaml
+recursive-include crisp_py/config control/*
+

{crisp_python-1.2.3 → crisp_python-1.3.0}/PKG-INFO

@@ -1,17 +1,7 @@
 Metadata-Version: 2.4
 Name: crisp-python
-Version: 1.2.3
+Version: 1.3.0
 Summary: Simple python interface to control robots that use crisp_controllers and other ROS2 components.
-License: The MIT License
-        
-        Copyright 2025 Learning Systems and Robotics Lab
-        
-        Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-        
-        The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-        
-        THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-        
 Project-URL: Homepage, https://utiasDSL.github.io/crisp_controllers/
 Requires-Python: >=3.11
 Description-Content-Type: text/markdown

crisp_python-1.3.0/crisp_py/config/control/clipped_cartesian_impedance.yaml

@@ -0,0 +1,37 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.stiffness: 5.0
+
+stop_commands: false
+
+
+task.k_pos_x: 2500.0
+task.k_pos_y: 2500.0
+task.k_pos_z: 2500.0
+task.k_rot_x: 200.0
+task.k_rot_y: 200.0
+task.k_rot_z: 200.0
+
+task.d_pos_x: 100.0
+task.d_pos_y: 100.0
+task.d_pos_z: 100.0
+task.d_rot_x: 10.0
+task.d_rot_y: 10.0
+task.d_rot_z: 10.0
+
+task.error_clip.rx: 0.08
+task.error_clip.ry: 0.08
+task.error_clip.rz: 0.08
+task.error_clip.x: 0.01
+task.error_clip.y: 0.01
+task.error_clip.z: 0.01
+
+use_coriolis_compensation: true
+use_friction: true
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/default_cartesian_impedance.yaml

@@ -0,0 +1,36 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.stiffness: 5.0
+
+stop_commands: false
+
+task.k_pos_x: 600.0
+task.k_pos_y: 600.0
+task.k_pos_z: 600.0
+task.k_rot_x: 30.0
+task.k_rot_y: 30.0
+task.k_rot_z: 30.0
+
+task.d_pos_x: 60.0
+task.d_pos_y: 60.0
+task.d_pos_z: 60.0
+task.d_rot_x: 10.0
+task.d_rot_y: 10.0
+task.d_rot_z: 10.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: true
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/default_operational_space_controller.yaml

@@ -0,0 +1,36 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.stiffness: 5.0
+
+stop_commands: false
+
+task.k_pos_x: 1000.0
+task.k_pos_y: 1000.0
+task.k_pos_z: 1000.0
+task.k_rot_x: 1000.0
+task.k_rot_y: 1000.0
+task.k_rot_z: 1000.0
+
+task.d_pos_x: 100.0
+task.d_pos_y: 100.0
+task.d_pos_z: 100.0
+task.d_rot_x: 100.0
+task.d_rot_y: 100.0
+task.d_rot_z: 100.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: true
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: true
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/gravity_compensation.yaml

@@ -0,0 +1,36 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.stiffness: 5.0
+
+stop_commands: false
+
+task.k_pos_x: 0.0
+task.k_pos_y: 0.0
+task.k_pos_z: 0.0
+task.k_rot_x: 0.0
+task.k_rot_y: 0.0
+task.k_rot_z: 0.0
+
+task.d_pos_x: -1.0
+task.d_pos_y: -1.0
+task.d_pos_z: -1.0
+task.d_rot_x: -1.0
+task.d_rot_y: -1.0
+task.d_rot_z: -1.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: true
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/gravity_compensation_on_plane.yaml

@@ -0,0 +1,36 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.stiffness: 5.0
+
+stop_commands: false
+
+task.k_pos_x: 0.0
+task.k_pos_y: 0.0
+task.k_pos_z: 0.0
+task.k_rot_x: 30.0
+task.k_rot_y: 30.0
+task.k_rot_z: 0.0
+
+task.d_pos_x: 1.0
+task.d_pos_y: 1.0
+task.d_pos_z: 1.0
+task.d_rot_x: 1.0
+task.d_rot_y: 1.0
+task.d_rot_z: 1.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: false
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/joint_control.yaml

@@ -0,0 +1,48 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.projector_type: none  # So we are directly controlling the joints!
+
+nullspace.stiffness: 5.0
+nullspace.damping: 1.0
+nullspace.max_tau: 5.0
+nullspace.regularization: 1.0e-06
+nullspace.weights.right_fr3_joint1.value: 15.0
+nullspace.weights.right_fr3_joint2.value: 15.0
+nullspace.weights.right_fr3_joint3.value: 8.0
+nullspace.weights.right_fr3_joint4.value: 8.0
+nullspace.weights.right_fr3_joint5.value: 8.0
+nullspace.weights.right_fr3_joint6.value: 5.0
+nullspace.weights.right_fr3_joint7.value: 5.0
+
+stop_commands: false
+
+# We set the task gains to 0
+task.k_pos_x: 0.0
+task.k_pos_y: 0.0
+task.k_pos_z: 0.0
+task.k_rot_x: 0.0
+task.k_rot_y: 0.0
+task.k_rot_z: 0.0
+task.d_pos_x: -1.0
+task.d_pos_y: -1.0
+task.d_pos_z: -1.0
+task.d_rot_x: -1.0
+task.d_rot_y: -1.0
+task.d_rot_z: -1.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: true
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/joint_velocity_control.yaml

@@ -0,0 +1,47 @@
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.projector_type: none  # So we are directly controlling the joints!
+nullspace.stiffness: 0.0
+nullspace.damping: 10.0
+nullspace.max_tau: 5.0
+nullspace.regularization: 1.0e-06
+nullspace.weights.right_fr3_joint1.value: 15.0
+nullspace.weights.right_fr3_joint2.value: 15.0
+nullspace.weights.right_fr3_joint3.value: 8.0
+nullspace.weights.right_fr3_joint4.value: 8.0
+nullspace.weights.right_fr3_joint5.value: 8.0
+nullspace.weights.right_fr3_joint6.value: 5.0
+nullspace.weights.right_fr3_joint7.value: 5.0
+
+stop_commands: false
+
+# We set the task gains to 0
+task.k_pos_x: 0.0
+task.k_pos_y: 0.0
+task.k_pos_z: 0.0
+task.k_rot_x: 0.0
+task.k_rot_y: 0.0
+task.k_rot_z: 0.0
+task.d_pos_x: -1.0
+task.d_pos_y: -1.0
+task.d_pos_z: -1.0
+task.d_rot_x: -1.0
+task.d_rot_y: -1.0
+task.d_rot_z: -1.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: true
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/control/no_friction_cartesian_impedance.yaml

@@ -0,0 +1,65 @@
+filter.dq: 0.5
+filter.output_torque: 0.5
+filter.q: 0.5
+filter.target_pose: 0.1
+
+friction.fp1:
+- 0.54615
+- 0.87224
+- 0.64068
+- 1.2794
+- 0.83904
+- 0.30301
+- 0.56489
+friction.fp2:
+- 5.1181
+- 9.0657
+- 10.136
+- 5.5903
+- 8.3469
+- 17.133
+- 10.336
+friction.fp3:
+- 0.039533
+- 0.025882
+- -0.04607
+- 0.036194
+- 0.026226
+- -0.021047
+- 0.0035526
+
+limit_error: true
+limit_torques: true
+
+max_delta_tau: 0.5
+
+nullspace.stiffness: 5.0
+
+stop_commands: false
+
+task.k_pos_x: 600.0
+task.k_pos_y: 600.0
+task.k_pos_z: 600.0
+task.k_rot_x: 20.0
+task.k_rot_y: 20.0
+task.k_rot_z: 20.0
+task.d_pos_x: 20.0
+task.d_pos_y: 20.0
+task.d_pos_z: 20.0
+task.d_rot_x: 5.0
+task.d_rot_y: 5.0
+task.d_rot_z: 5.0
+
+task.error_clip.rx: 0.5
+task.error_clip.ry: 0.5
+task.error_clip.rz: 0.5
+task.error_clip.x: 0.1
+task.error_clip.y: 0.1
+task.error_clip.z: 0.1
+
+use_coriolis_compensation: true
+use_friction: false
+use_gravity_compensation: false
+use_local_jacobian: true
+use_operational_space: false
+use_sim_time: false

crisp_python-1.3.0/crisp_py/config/gripper_franka.yaml

@@ -0,0 +1,2 @@
+max_value: 1.0
+min_value: 0.0

crisp_python-1.3.0/crisp_py/config/gripper_left.yaml

@@ -0,0 +1,4 @@
+joint_state_topic: gripper/gripper_state_broadcaster/joint_states
+command_topic: gripper/gripper_position_controller/commands
+max_value: 1.43957689579873
+min_value: 0.19644546126038107

crisp_python-1.3.0/crisp_py/config/gripper_left_config.yaml

@@ -0,0 +1,2 @@
+max_value: 1.5493206977844238
+min_value: 0.653475821018219

crisp_python-1.3.0/crisp_py/config/gripper_right.yaml

@@ -0,0 +1,4 @@
+joint_state_topic: gripper/gripper_state_broadcaster/joint_states
+command_topic: gripper/gripper_position_controller/commands
+max_value: -0.07976700087890626
+min_value: -1.2977477450683594

crisp_python-1.3.0/crisp_py/config/gripper_right_config.yaml

@@ -0,0 +1,2 @@
+max_value: 3.241350110796288
+min_value: 2.2345671218368346

crisp_python-1.3.0/crisp_py/config/gripper_uncalibrated.yaml

@@ -0,0 +1,2 @@
+max_value: 1.0
+min_value: 0.0

crisp_python-1.3.0/crisp_py/config/gripper_with_trigger.yaml

@@ -0,0 +1,3 @@
+max_value: 1.4564589276257938
+min_value: 0.20718857242305813
+joint_state_topic: gripper_state_broadcaster/joint_states

crisp_python-1.3.0/crisp_py/config/trigger_left.yaml

@@ -0,0 +1,4 @@
+joint_state_topic: gripper_state_broadcaster/joint_states
+max_value: 1.10193625925745
+min_value: 1.8907875646311676
+index: 1

{crisp_python-1.2.3 → crisp_python-1.3.0}/crisp_python.egg-info/PKG-INFO

@@ -1,17 +1,7 @@
 Metadata-Version: 2.4
 Name: crisp-python
-Version: 1.2.3
+Version: 1.3.0
 Summary: Simple python interface to control robots that use crisp_controllers and other ROS2 components.
-License: The MIT License
-        
-        Copyright 2025 Learning Systems and Robotics Lab
-        
-        Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the “Software”), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
-        
-        The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
-        
-        THE SOFTWARE IS PROVIDED “AS IS”, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
-        
 Project-URL: Homepage, https://utiasDSL.github.io/crisp_controllers/
 Requires-Python: >=3.11
 Description-Content-Type: text/markdown

crisp_python-1.3.0/crisp_python.egg-info/SOURCES.txt

@@ -0,0 +1,42 @@
+LICENSE.md
+MANIFEST.in
+README.md
+pyproject.toml
+crisp_py/__init__.py
+crisp_py/robot.py
+crisp_py/robot_config.py
+crisp_py/camera/__init__.py
+crisp_py/camera/camera.py
+crisp_py/camera/camera_config.py
+crisp_py/config/gripper_franka.yaml
+crisp_py/config/gripper_left.yaml
+crisp_py/config/gripper_left_config.yaml
+crisp_py/config/gripper_right.yaml
+crisp_py/config/gripper_right_config.yaml
+crisp_py/config/gripper_uncalibrated.yaml
+crisp_py/config/gripper_with_trigger.yaml
+crisp_py/config/trigger_left.yaml
+crisp_py/config/control/clipped_cartesian_impedance.yaml
+crisp_py/config/control/default_cartesian_impedance.yaml
+crisp_py/config/control/default_operational_space_controller.yaml
+crisp_py/config/control/gravity_compensation.yaml
+crisp_py/config/control/gravity_compensation_on_plane.yaml
+crisp_py/config/control/joint_control.yaml
+crisp_py/config/control/joint_velocity_control.yaml
+crisp_py/config/control/no_friction_cartesian_impedance.yaml
+crisp_py/control/__init__.py
+crisp_py/control/controller_switcher.py
+crisp_py/control/joint_trajectory_controller_client.py
+crisp_py/control/parameters_client.py
+crisp_py/gripper/__init__.py
+crisp_py/gripper/gripper.py
+crisp_py/sensors/sensor.py
+crisp_py/sensors/sensor_config.py
+crisp_py/utils/__init__.py
+crisp_py/utils/callback_monitor.py
+crisp_py/utils/diagnostics_viewer.py
+crisp_python.egg-info/PKG-INFO
+crisp_python.egg-info/SOURCES.txt
+crisp_python.egg-info/dependency_links.txt
+crisp_python.egg-info/requires.txt
+crisp_python.egg-info/top_level.txt

crisp_python-1.3.0/crisp_python.egg-info/top_level.txt

@@ -0,0 +1 @@
+crisp_py

{crisp_python-1.2.3 → crisp_python-1.3.0}/pyproject.toml

@@ -1,9 +1,9 @@
 [project]
 name = "crisp-python"
-version = "1.2.3"
+version = "1.3.0"
 description = "Simple python interface to control robots that use crisp_controllers and other ROS2 components."
 readme = "README.md"
-license = { file = "LICENSE.md" }
+license-files = ["LICENSE.md"]
 requires-python = ">=3.11"
 dependencies = [
     "scipy",
@@ -15,6 +15,10 @@ Homepage = "https://utiasDSL.github.io/crisp_controllers/"
 
 [tool.setuptools.packages.find]
 exclude = ["config", "examples", "build", "scripts", "media", "docs", "tests"]
+include = ["crisp_py*"]
+
+[tool.setuptools]
+include-package-data = true
 
 [tool.ruff]
 exclude = [

crisp_python-1.2.3/crisp_python.egg-info/SOURCES.txt

@@ -1,32 +0,0 @@
-LICENSE.md
-README.md
-pyproject.toml
-crisp_py/__init__.py
-crisp_py/robot.py
-crisp_py/robot_config.py
-crisp_py/camera/__init__.py
-crisp_py/camera/camera.py
-crisp_py/camera/camera_config.py
-crisp_py/control/__init__.py
-crisp_py/control/controller_switcher.py
-crisp_py/control/joint_trajectory_controller_client.py
-crisp_py/control/parameters_client.py
-crisp_py/gripper/__init__.py
-crisp_py/gripper/gripper.py
-crisp_py/sensors/sensor.py
-crisp_py/sensors/sensor_config.py
-crisp_py/utils/__init__.py
-crisp_py/utils/callback_monitor.py
-crisp_py/utils/diagnostics_viewer.py
-crisp_python.egg-info/PKG-INFO
-crisp_python.egg-info/SOURCES.txt
-crisp_python.egg-info/dependency_links.txt
-crisp_python.egg-info/requires.txt
-crisp_python.egg-info/top_level.txt
-tests/unit/__init__.py
-tests/unit/test_camera.py
-tests/unit/test_gripper.py
-tests/unit/test_pose.py
-tests/unit/test_robot.py
-tests/unit/test_robot_config.py
-tests/unit/test_sensor.py

crisp_python-1.2.3/crisp_python.egg-info/top_level.txt

@@ -1,4 +0,0 @@
-config
-crisp_py
-dist
-tests

crisp_python-1.2.3/tests/unit/__init__.py

@@ -1 +0,0 @@
-"""Unit test module for initializing the tests package."""