urkit 0.3.14__tar.gz → 0.3.16__tar.gz

{urkit-0.3.14 → urkit-0.3.16}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.14
+Version: 0.3.16
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -502,6 +502,23 @@ robot.get_speed_slider()              # read current slider (0.0-1.0)
 
 The speed slider controls the pendant's speed multiplier. It's global, persistent, and affects all motion commands.
 
+#### Changing Default Speed & Acceleration
+
+Override the constructor defaults at runtime — all subsequent moves pick up the new values:
+
+```python
+robot.set_speed(0.1)   # slow for precision work
+robot.move_to("insert")
+robot.set_speed(0.5)   # back to normal
+
+robot.set_acc(0.05)    # gentle acceleration
+
+robot.default_vel      # read current velocity (m/s)
+robot.default_acc      # read current acceleration (m/s²)
+```
+
+Soft warnings log when values exceed typical robot limits (> 2 m/s for velocity, > 6 m/s² for acceleration). The controller may clamp aggressive values based on payload and configuration.
+
 #### Inverse Kinematics
 
 ```python

{urkit-0.3.14 → urkit-0.3.16}/README.md

@@ -476,6 +476,23 @@ robot.get_speed_slider()              # read current slider (0.0-1.0)
 
 The speed slider controls the pendant's speed multiplier. It's global, persistent, and affects all motion commands.
 
+#### Changing Default Speed & Acceleration
+
+Override the constructor defaults at runtime — all subsequent moves pick up the new values:
+
+```python
+robot.set_speed(0.1)   # slow for precision work
+robot.move_to("insert")
+robot.set_speed(0.5)   # back to normal
+
+robot.set_acc(0.05)    # gentle acceleration
+
+robot.default_vel      # read current velocity (m/s)
+robot.default_acc      # read current acceleration (m/s²)
+```
+
+Soft warnings log when values exceed typical robot limits (> 2 m/s for velocity, > 6 m/s² for acceleration). The controller may clamp aggressive values based on payload and configuration.
+
 #### Inverse Kinematics
 
 ```python

{urkit-0.3.14 → urkit-0.3.16}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.14"
+version = "0.3.16"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.3.14 → urkit-0.3.16}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.14"
+__version__ = "0.3.16"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.14 → urkit-0.3.16}/src/urkit/cli/teach.py

@@ -25,7 +25,7 @@ from pathlib import Path
 
 import yaml
 
-from urkit import load_config, resolve_config
+from urkit import load_config
 from urkit.cli.colors import blue, cyan, dim, green, red, yellow
 from urkit.cli.connection_monitor import ConnectionMonitor
 from urkit.cli.points import _interactive_points_filter
@@ -54,10 +54,10 @@ _cli_monitor: "ConnectionMonitor | None" = None
 
 # Default configuration path — resolved relative to the calling script's directory
 def _resolve_default_config_path() -> Path:
-    """Resolve the default config.yaml path for save operations."""
-    resolved = resolve_config()
-    if resolved is not None:
-        return resolved
+    """Resolve the default config.yaml path for save operations.
+
+    Always saves to CWD so the config follows the user, not the package.
+    """
     return Path.cwd() / "config.yaml"
 
 # Default step sizes

{urkit-0.3.14 → urkit-0.3.16}/src/urkit/robot.py

@@ -1372,6 +1372,79 @@ class URRobot:
         """Get the current speed slider setting (0.0–1.0)."""
         return self._telemetry.get_speed_slider()
 
+    # ------------------------------------------------------------------
+    # Velocity / acceleration defaults
+    # ------------------------------------------------------------------
+
+    @property
+    def default_vel(self) -> float:
+        """Current default velocity (m/s) for motion commands."""
+        return self._default_vel
+
+    @property
+    def default_acc(self) -> float:
+        """Current default acceleration (m/s²) for motion commands."""
+        return self._default_acc
+
+    def set_speed(self, vel: float) -> None:
+        """Change the default velocity for subsequent motions.
+
+        Updates both the URRobot-level default and the internal
+        Motion instance so that ``move_to``, ``move_relative``, etc.
+        pick up the new value when no per-call override is given.
+
+        Args:
+            vel: Linear velocity in m/s (must be > 0).
+
+        Raises:
+            MotionError: If vel is <= 0.
+
+        Example:
+            >>> robot.set_speed(0.1)  # slow for precision
+            >>> robot.move_to("insert")
+            >>> robot.set_speed(0.5)  # back to normal
+        """
+        if vel <= 0:
+            raise MotionError(f"vel must be > 0, got {vel}.")
+        if vel > 2.0:
+            logger.warning(
+                "set_speed(%s): %.1f m/s exceeds typical TCP speed limits "
+                "(UR3e/5e/10e: ~1–2 m/s). The controller may clamp this value.",
+                vel,
+                vel,
+            )
+        self._default_vel = vel
+        self._motion._default_vel = vel
+
+    def set_acc(self, acc: float) -> None:
+        """Change the default acceleration for subsequent motions.
+
+        Updates both the URRobot-level default and the internal
+        Motion instance so that ``move_to``, ``move_relative``, etc.
+        pick up the new value when no per-call override is given.
+
+        Args:
+            acc: Linear acceleration in m/s² (must be > 0).
+
+        Raises:
+            MotionError: If acc is <= 0.
+
+        Example:
+            >>> robot.set_acc(0.05)  # gentle acceleration
+            >>> robot.move_to("insert")
+        """
+        if acc <= 0:
+            raise MotionError(f"acc must be > 0, got {acc}.")
+        if acc > 6.0:
+            logger.warning(
+                "set_acc(%s): %.1f m/s² is high. The controller may clamp "
+                "this value based on payload and configuration.",
+                acc,
+                acc,
+            )
+        self._default_acc = acc
+        self._motion._default_acc = acc
+
     # ------------------------------------------------------------------
     # Kinematics
     # ------------------------------------------------------------------

{urkit-0.3.14 → urkit-0.3.16}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.14
+Version: 0.3.16
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -502,6 +502,23 @@ robot.get_speed_slider()              # read current slider (0.0-1.0)
 
 The speed slider controls the pendant's speed multiplier. It's global, persistent, and affects all motion commands.
 
+#### Changing Default Speed & Acceleration
+
+Override the constructor defaults at runtime — all subsequent moves pick up the new values:
+
+```python
+robot.set_speed(0.1)   # slow for precision work
+robot.move_to("insert")
+robot.set_speed(0.5)   # back to normal
+
+robot.set_acc(0.05)    # gentle acceleration
+
+robot.default_vel      # read current velocity (m/s)
+robot.default_acc      # read current acceleration (m/s²)
+```
+
+Soft warnings log when values exceed typical robot limits (> 2 m/s for velocity, > 6 m/s² for acceleration). The controller may clamp aggressive values based on payload and configuration.
+
 #### Inverse Kinematics
 
 ```python