crisp-python 3.2.0__tar.gz → 3.3.0__tar.gz

crisp_python-3.3.0/LICENSE.md

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2026 Learning Systems and Robotics Lab, Technical University of Munich
+
+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.

{crisp_python-3.2.0/crisp_python.egg-info → crisp_python-3.3.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: crisp-python
-Version: 3.2.0
+Version: 3.3.0
 Summary: Simple python interface to control robots that use crisp_controllers and other ROS2 components.
 Project-URL: Homepage, https://utiasDSL.github.io/crisp_controllers/
 Requires-Python: >=3.11

crisp_python-3.3.0/crisp_py/config/robots/ur.yaml

@@ -0,0 +1 @@
+robot_type: "ur"

{crisp_python-3.2.0 → crisp_python-3.3.0}/crisp_py/robot/robot_config.py

@@ -291,11 +291,43 @@ class DynaArmConfig(RobotConfig):
     cartesian_impedance_controller_name: str = "crisp_cartesian_controller"
 
 
+@dataclass
+class URConfig(RobotConfig):
+    """Configuration specific to Universal Robots (UR) arms.
+
+    Provides default values for frame names, joint names, and home configuration
+    specifically for UR robots.
+    """
+
+    joint_names: list = field(
+        default_factory=lambda: [
+            "shoulder_pan_joint",
+            "shoulder_lift_joint",
+            "elbow_joint",
+            "wrist_1_joint",
+            "wrist_2_joint",
+            "wrist_3_joint",
+        ]
+    )
+    home_config: list = field(
+        default_factory=lambda: [
+            0,
+            -np.pi / 2,
+            np.pi / 2,
+            -np.pi / 2,
+            -np.pi / 2,
+            0,
+        ],
+    )
+    base_frame: str = "base_link"
+    target_frame: str = "tool0"
+
+
 def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:  # noqa: ANN003
     """Factory function to create robot configuration objects.
 
     Args:
-        robot_type (str): Type of robot ('franka', 'kinova', 'iiwa', 'so101', 'dynaarm')
+        robot_type (str): Type of robot ('franka', 'kinova', 'iiwa', 'so101', 'dynaarm', 'ur')
         **kwargs: Additional keyword arguments to override default configuration
 
     Returns:
@@ -318,7 +350,9 @@ def make_robot_config(robot_type: str, **kwargs) -> RobotConfig:  # noqa: ANN003
         return SO101Config(**kwargs)
     elif robot_type == "dynaarm":
         return DynaArmConfig(**kwargs)
+    elif robot_type == "ur":
+        return URConfig(**kwargs)
     else:
         raise ValueError(
-            f"Unsupported robot type: {robot_type}. Supported types: franka, panda, kinova, iiwa, so101, dynaarm"
+            f"Unsupported robot type: {robot_type}. Supported types: franka, panda, kinova, iiwa, so101, dynaarm, ur"
         )

{crisp_python-3.2.0 → crisp_python-3.3.0}/crisp_py/utils/geometry.py

@@ -59,8 +59,6 @@ class Pose:
                 msg.pose.orientation.w,
             ]
         )
-        quat_x_sign = np.sign(quat[0]) if quat[0] != 0 else 1.0
-        quat *= quat_x_sign  # Ensure a consistent quaternion sign
         orientation = Rotation.from_quat(quat)
         return cls(position, orientation)
 
@@ -78,8 +76,6 @@ class Pose:
                 msg.transform.rotation.w,
             ]
         )
-        quat_x_sign = np.sign(quat[0]) if quat[0] != 0 else 1.0
-        quat *= quat_x_sign  # Ensure a consistent quaternion sign
         orientation = Rotation.from_quat(quat)
         return cls(position, orientation)
 

{crisp_python-3.2.0 → crisp_python-3.3.0/crisp_python.egg-info}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: crisp-python
-Version: 3.2.0
+Version: 3.3.0
 Summary: Simple python interface to control robots that use crisp_controllers and other ROS2 components.
 Project-URL: Homepage, https://utiasDSL.github.io/crisp_controllers/
 Requires-Python: >=3.11

{crisp_python-3.2.0 → crisp_python-3.3.0}/crisp_python.egg-info/SOURCES.txt

@@ -35,6 +35,7 @@ crisp_py/config/robots/fr3_left.yaml
 crisp_py/config/robots/fr3_right.yaml
 crisp_py/config/robots/iiwa14.yaml
 crisp_py/config/robots/panda.yaml
+crisp_py/config/robots/ur.yaml
 crisp_py/config/sensors/anyskin_sensor.yaml
 crisp_py/config/sensors/force_torque_sensor.yaml
 crisp_py/config/sensors/mock_force_torque_sensor.yaml

{crisp_python-3.2.0 → crisp_python-3.3.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "crisp-python"
-version = "3.2.0"
+version = "3.3.0"
 description = "Simple python interface to control robots that use crisp_controllers and other ROS2 components."
 readme = "README.md"
 license-files = ["LICENSE.md"]

crisp_python-3.2.0/LICENSE.md

@@ -1,9 +0,0 @@
-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.