urkit 0.3.11__tar.gz → 0.3.13__tar.gz

{urkit-0.3.11 → urkit-0.3.13}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.11
+Version: 0.3.13
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT

{urkit-0.3.11 → urkit-0.3.13}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.11"
+version = "0.3.13"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.3.11 → urkit-0.3.13}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.11"
+__version__ = "0.3.13"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.11 → urkit-0.3.13}/src/urkit/points.py

@@ -119,7 +119,7 @@ class Points:
         else:
             self._path = Path(path).resolve()
             self._path.parent.mkdir(parents=True, exist_ok=True)
-            self._conn = sqlite3.connect(str(self._path))
+            self._conn = sqlite3.connect(str(self._path), check_same_thread=False)
         _init_db(self._conn)
 
     def _close(self) -> None:

{urkit-0.3.11 → urkit-0.3.13}/src/urkit/robot.py

@@ -9,7 +9,7 @@ from __future__ import annotations
 import logging
 import sys
 import time
-from typing import TYPE_CHECKING, Union
+from typing import TYPE_CHECKING, Optional, Union
 from pathlib import Path
 
 if TYPE_CHECKING:
@@ -1491,17 +1491,23 @@ class URRobot:
     # Point management
     # ------------------------------------------------------------------
 
-    def save_point(self, name: str) -> Point:
-        """Save the current robot position as a named point.
+    def save_point(self, name: str, pose: Optional[list[float]] = None) -> Point:
+        """Save a named point.
 
-        Stores the TCP pose from getActualTCPPose(). The UR controller
-        interprets the stored pose in whatever TCP frame is active at
-        playback time, making points tool-agnostic by design.
+        When *pose* is omitted, saves the current TCP pose from
+        getActualTCPPose(). When *pose* is provided, saves that
+        arbitrary pose directly without moving the robot.
+
+        The UR controller interprets the stored pose in whatever TCP
+        frame is active at playback time, making points tool-agnostic
+        by design.
 
         Overwrites if a point with the same name already exists.
 
         Args:
             name: Name for the saved point.
+            pose: TCP pose [x, y, z, rx, ry, rz]. Defaults to current
+                robot position.
 
         Returns:
             The saved Point object.
@@ -1510,7 +1516,8 @@ class URRobot:
             PointError: If points database is not set or saving fails.
         """
         points = self._require_points()
-        pose = self._telemetry.get_tcp_pose()
+        if pose is None:
+            pose = self._telemetry.get_tcp_pose()
         point = Point(name=name, pose=pose)
         points.save(point)
         logger.info("Saved point '%s'", name)

{urkit-0.3.11 → urkit-0.3.13}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.11
+Version: 0.3.13
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT