machine-logic-sdk 3.0.1__tar.gz → 3.0.2__tar.gz

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: machine-logic-sdk
-Version: 3.0.1
+Version: 3.0.2
 Summary: SDK for controlling Vention hardware
 License: Proprietary
 Keywords: Vention,MachineLogic,SDK,Robot,Automation

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/machinelogic/ivention/irobot_move_sequence.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 from abc import ABC, abstractmethod
-from typing import List, Union
+from typing import List, Optional, Union
 
 from machinelogic.decorators.undocumented import undocumented, undocumented_property
 from machinelogic.ivention.types.robot_types import (
@@ -59,7 +59,7 @@ class IRobotMoveSequence(ABC):
         target: JointAnglesDegrees,
         velocity: DegreesPerSecond = 10.0,
         acceleration: DegreesPerSecondSquared = 10.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
     ) -> IRobotMoveSequence:
         """
         Append a joint move to the sequence.
@@ -68,7 +68,8 @@ class IRobotMoveSequence(ABC):
             target: A list of 6 target joint angles in degrees.
             velocity: Joint velocity in degrees per second
             acceleration: Joint acceleration in degrees per second squared
-            blend_radius: Blend radius in millimeters for smooth transitions between moves
+            blend_radius: Blend radius in millimeters for smooth transitions between moves.
+                If None, the robot controller will use its default behavior (no blending).
 
         Returns:
             Self for method chaining
@@ -80,7 +81,7 @@ class IRobotMoveSequence(ABC):
         target: CartesianPose,
         velocity: MillimetersPerSecond = 100.0,
         acceleration: MillimetersPerSecondSquared = 100.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
         reference_frame: Union[CartesianPose, None] = None,
     ) -> IRobotMoveSequence:
         """
@@ -90,7 +91,8 @@ class IRobotMoveSequence(ABC):
             target: Target Cartesian pose [x, y, z, rx, ry, rz] in mm and degrees
             velocity: Linear velocity in millimeters per second
             acceleration: Linear acceleration in millimeters per second squared
-            blend_radius: Blend radius in millimeters for smooth transitions between moves
+            blend_radius: Blend radius in millimeters for smooth transitions between moves.
+                If None, the robot controller will use its default behavior (no blending).
             reference_frame: Optional reference frame for the target pose. If None, uses robot base frame.
 
         Returns:

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/robot/robot_move.py

@@ -1,7 +1,7 @@
 from __future__ import annotations
 
 import math
-from typing import Union, cast
+from typing import Optional, Union, cast
 
 from vrmcs.types import (
     CartesianConstraints,
@@ -38,7 +38,7 @@ class RobotMove:
         target: Union[CartesianPose, JointAnglesDegrees],
         velocity: Union[DegreesPerSecond, MillimetersPerSecond],
         acceleration: Union[DegreesPerSecondSquared, MillimetersPerSecondSquared],
-        blend_radius: Millimeters,
+        blend_radius: Optional[Millimeters] = None,
     ):
         self.move_type = move_type
         self.target = target
@@ -72,7 +72,7 @@ class RobotMove:
             move_type=MoveType.MOVE_TYPE_JOINT,
             joint_goal=joint_goal,
             joint_constraints=joint_constraints,
-            blend_radius=self.blend_radius / 1000.0,  # mm to meters
+            blend_radius=(None if self.blend_radius is None else self.blend_radius / 1000.0),
         )
 
     def _to_vrmcs_cartesian_segment(self) -> MoveSegment:
@@ -112,5 +112,5 @@ class RobotMove:
             move_type=MoveType.MOVE_TYPE_CARTESIAN,
             cartesian_goal=cartesian_goal,
             cartesian_constraints=cartesian_constraints,
-            blend_radius=self.blend_radius / 1000.0,  # mm to meters
+            blend_radius=(None if self.blend_radius is None else self.blend_radius / 1000.0),
         )

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/robot/robot_move_sequence.py

@@ -2,7 +2,7 @@
 
 from __future__ import annotations
 
-from typing import TYPE_CHECKING, Any, List, Union
+from typing import TYPE_CHECKING, Any, List, Optional, Union
 
 from vrmcs.types import MoveType
 
@@ -58,7 +58,7 @@ class RobotMoveSequence(IRobotMoveSequence):
         target: JointAnglesDegrees,
         velocity: DegreesPerSecond = 10.0,
         acceleration: DegreesPerSecondSquared = 10.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
     ) -> RobotMoveSequence:
         self.moves.append(
             RobotMove(
@@ -76,7 +76,7 @@ class RobotMoveSequence(IRobotMoveSequence):
         target: CartesianPose,
         velocity: MillimetersPerSecond = 100.0,
         acceleration: MillimetersPerSecondSquared = 100.0,
-        blend_radius: Millimeters = 0.0,
+        blend_radius: Optional[Millimeters] = None,
         reference_frame: Union[CartesianPose, None] = None,
     ) -> RobotMoveSequence:
         if reference_frame is None:

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/tests/test_robot_move.py

@@ -173,7 +173,6 @@ class TestRobotMove(unittest.TestCase):
             target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
             velocity=10.0,
             acceleration=5.0,
-            blend_radius=0.0,
         )
 
         with self.assertRaises(ValueError) as context:
@@ -181,8 +180,20 @@ class TestRobotMove(unittest.TestCase):
 
         self.assertIn("Unknown move type", str(context.exception))
 
-    def test_to_vrmcs_segment_zero_blend_radius(self) -> None:
-        """Test to_vrmcs_segment with zero blend radius."""
+    def test_to_vrmcs_segment_none_blend_radius(self) -> None:
+        """Test to_vrmcs_segment with None blend radius omits the field."""
+        move = RobotMove(
+            move_type=MoveType.MOVE_TYPE_JOINT,
+            target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
+            velocity=10.0,
+            acceleration=5.0,
+        )
+
+        segment = move.to_vrmcs_segment()
+        self.assertIsNone(segment.blend_radius)
+
+    def test_to_vrmcs_segment_explicit_zero_blend_radius(self) -> None:
+        """Test to_vrmcs_segment with explicit zero blend radius sends 0.0."""
         move = RobotMove(
             move_type=MoveType.MOVE_TYPE_JOINT,
             target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
@@ -192,6 +203,7 @@ class TestRobotMove(unittest.TestCase):
         )
 
         segment = move.to_vrmcs_segment()
+        self.assertIsNotNone(segment.blend_radius)
         self.assertEqual(segment.blend_radius, 0.0)
 
     def test_to_vrmcs_segment_joint_angle_conversion(self) -> None:
@@ -202,7 +214,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=10.0,
             acceleration=5.0,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -228,7 +239,6 @@ class TestRobotMove(unittest.TestCase):
             target=[0.0, 0.0, 0.0, 0.0, 0.0, 0.0],
             velocity=velocity,
             acceleration=acceleration,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -248,7 +258,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=100.0,
             acceleration=50.0,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -268,7 +277,6 @@ class TestRobotMove(unittest.TestCase):
             target=[100.0, 200.0, 300.0, 0.0, 90.0, 180.0],
             velocity=velocity,
             acceleration=acceleration,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()
@@ -285,7 +293,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=100.0,
             acceleration=50.0,
-            blend_radius=0.0,
         )
 
         move.to_vrmcs_segment()
@@ -300,7 +307,6 @@ class TestRobotMove(unittest.TestCase):
             target=target,
             velocity=100.0,
             acceleration=50.0,
-            blend_radius=0.0,
         )
 
         segment = move.to_vrmcs_segment()

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/machinelogic/machinelogic/tests/test_robot_move_sequence.py

@@ -86,7 +86,7 @@ class TestRobotMoveSequence(unittest.TestCase):
         self.assertEqual(move.target, target)
         self.assertEqual(move.velocity, 10.0)  # default velocity
         self.assertEqual(move.acceleration, 10.0)  # default acceleration
-        self.assertEqual(move.blend_radius, 0.0)  # default blend radius
+        self.assertIsNone(move.blend_radius)  # default blend radius
 
     def test_movel_basic(self) -> None:
         """Test basic append_movel functionality."""
@@ -135,7 +135,7 @@ class TestRobotMoveSequence(unittest.TestCase):
         self.assertEqual(move.target, target)
         self.assertEqual(move.velocity, 100.0)  # default velocity
         self.assertEqual(move.acceleration, 100.0)  # default acceleration
-        self.assertEqual(move.blend_radius, 0.0)  # default blend radius
+        self.assertIsNone(move.blend_radius)  # default blend radius
 
     def test_movel_with_reference_frame(self) -> None:
         """Test append_movel with reference frame transformation."""

{machine_logic_sdk-3.0.1 → machine_logic_sdk-3.0.2}/pyproject.toml

@@ -11,7 +11,7 @@ addopts = "--cov --cov-report html:'../../coverage/projects/machine-code/libs/ma
 
 [tool.poetry]
 name = "machine-logic-sdk"
-version = "3.0.1"
+version = "3.0.2"
 description = "SDK for controlling Vention hardware"
 authors = [ "VentionCo" ]
 license = "Proprietary"