urkit 0.3.15__tar.gz → 0.3.17__tar.gz

{urkit-0.3.15 → urkit-0.3.17}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.15
+Version: 0.3.17
 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-0.3.15 → urkit-0.3.17}/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-0.3.15 → urkit-0.3.17}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.15"
+version = "0.3.17"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.3.15 → urkit-0.3.17}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.15"
+__version__ = "0.3.17"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.15 → urkit-0.3.17}/src/urkit/config.py

@@ -14,6 +14,53 @@ Usage::
     from urkit import URRobot
     robot = URRobot.from_config("config.yaml")
     robot = URRobot.from_config("config.yaml", ip="10.0.0.50")  # override IP
+
+Config YAML format
+------------------
+
+Minimal config::
+
+    robot_ip: 192.168.1.50
+
+Built-in gripper preset (string)::
+
+    robot_ip: 192.168.1.50
+    gripper: hand-e
+    gripper_config:
+        force: 50
+
+Custom gripper with payload + TCP offset (dict)::
+
+    robot_ip: 192.168.1.50
+    gripper:
+        mass: 0.5
+        center_of_gravity: [0.0, 0.0, 0.0]
+        tcp_offset: [0.0, 0.0, 0.175, 0.0, 0.0, 0.0]
+        backend: none
+
+Override physical properties on a built-in preset::
+
+    robot_ip: 192.168.1.50
+    gripper: hand-e
+    gripper_config:
+        mass: 1.5
+        center_of_gravity: [0.0, 0.0, 0.08]
+
+Full config reference::
+
+    robot_ip: 192.168.1.50           # required
+    points_path: points.db           # optional, SQLite waypoint DB
+    gripper: hand-e                  # preset name, dict, or omit
+    gripper_config:                  # optional overrides
+        mass: 1.0                    # kg
+        center_of_gravity: [0, 0, 0] # [x, y, z] in meters
+        tcp_offset: [0, 0, 0.1, 0, 0, 0]  # [x, y, z, rx, ry, rz]
+        force: 100                   # 0-100
+        speed: 100                   # 0-100
+        max_mm: 50                   # finger travel
+    default_vel: 0.5                 # m/s
+    default_acc: 0.3                 # m/s²
+    expert_mode: false               # show advanced CLI commands
 """
 
 from __future__ import annotations

{urkit-0.3.15 → urkit-0.3.17}/src/urkit/robot.py

@@ -6,6 +6,7 @@ and named point management into a single high-level interface.
 
 from __future__ import annotations
 
+from dataclasses import replace
 import logging
 import sys
 import time
@@ -360,27 +361,36 @@ class URRobot:
             points: Path to points database. Overrides ``points_path`` from config.
             gripper: A GripperPreset, DigitalGripperConfig, a preset name
                 string (e.g. ``"hand-e"``, ``"2f-85"``, ``"digital"``),
-                or ``None``. Overrides the ``gripper`` key from config.
+                a dict defining a custom gripper, or ``None``. Overrides
+                the ``gripper`` key from config.
             default_vel: Default linear velocity (m/s).
             default_acc: Default linear acceleration (m/s²).
             gripper_kwargs: Overrides for gripper preset values
-                (e.g. ``max_mm``, ``force``, ``speed``, ``pin``).
+                (e.g. ``max_mm``, ``force``, ``speed``, ``pin``,
+                ``mass``, ``center_of_gravity``, ``tcp_offset``).
 
         Config file keys::
 
+            # Built-in preset (string)
             robot_ip: 192.168.1.50
             points_path: points.db
             gripper: hand-e
             gripper_config:
+                mass: 1.5
                 force: 50
-                speed: 80
-            default_vel: 0.5
-            default_acc: 0.3
+
+            # Custom gripper (dict) — arbitrary payload + TCP offset
+            robot_ip: 192.168.1.50
+            gripper:
+                mass: 0.5
+                center_of_gravity: [0.0, 0.0, 0.0]
+                tcp_offset: [0.0, 0.0, 0.175, 0.0, 0.0, 0.0]
+                backend: none
 
         Example:
             >>> robot = URRobot.from_config("config.yaml")
             >>> robot = URRobot.from_config("config.yaml", ip="10.0.0.50")
-            >>> robot = URRobot.from_config({"robot_ip": "192.168.1.50", "points_path": "points.db", "gripper": "2f-85"})
+            >>> robot = URRobot.from_config({"robot_ip": "192.168.1.50", "gripper": {"name": "tool", "mass": 0.5, "center_of_gravity": [0, 0, 0], "tcp_offset": [0, 0, 0.1, 0, 0, 0], "backend": "none"}})
         """
         if isinstance(config, str):
             resolved = resolve_config(config)
@@ -413,6 +423,18 @@ class URRobot:
         if gripper_source is not None:
             if isinstance(gripper_source, (GripperPreset, DigitalGripperConfig)):
                 resolved_gripper = gripper_source
+            elif isinstance(gripper_source, dict):
+                # Custom gripper defined inline in YAML as a dict
+                resolved_gripper = GripperPreset(
+                    name=str(gripper_source.get("name", "custom")),
+                    mass=float(gripper_source.get("mass", 0.0)),
+                    center_of_gravity=list(gripper_source.get("center_of_gravity", [0.0, 0.0, 0.0])),
+                    tcp_offset=list(gripper_source.get("tcp_offset", [0.0, 0.0, 0.0, 0.0, 0.0, 0.0])),
+                    backend=str(gripper_source.get("backend", "none")),
+                    max_mm=int(gripper_source.get("max_mm", 50)),
+                    force=int(gripper_source.get("force", 100)),
+                    speed=int(gripper_source.get("speed", 100)),
+                )
             elif isinstance(gripper_source, str):
                 key = gripper_source.strip().upper()
                 preset = PRESETS.get(key)
@@ -431,9 +453,31 @@ class URRobot:
 
         # Merge config gripper overrides into gripper_kwargs.
         # Check nested gripper_config first, then top-level for backwards compat.
-        gripper_overrides = ("max_mm", "force", "speed", "pin", "close_on_high")
         nested_cfg = cfg.get("gripper_config") or {}
-        for key in gripper_overrides:
+
+        # Physical properties override the GripperPreset directly via replace()
+        physical_overrides = ("mass", "center_of_gravity", "tcp_offset")
+        for key in physical_overrides:
+            if key not in gripper_kwargs:
+                value = nested_cfg.get(key, cfg.get(key))  # type: ignore
+                if value is not None:
+                    gripper_kwargs[key] = value
+
+        # Apply physical overrides to the resolved preset
+        if isinstance(resolved_gripper, GripperPreset):
+            apply_replace: dict[str, object] = {}
+            if "mass" in gripper_kwargs:
+                apply_replace["mass"] = float(gripper_kwargs.pop("mass"))
+            if "center_of_gravity" in gripper_kwargs:
+                apply_replace["center_of_gravity"] = list(gripper_kwargs.pop("center_of_gravity"))
+            if "tcp_offset" in gripper_kwargs:
+                apply_replace["tcp_offset"] = list(gripper_kwargs.pop("tcp_offset"))
+            if apply_replace:
+                resolved_gripper = replace(resolved_gripper, **apply_replace)  # type: ignore[arg-type]
+
+        # Standard gripper kwargs (passed to Gripper.create)
+        standard_overrides = ("max_mm", "force", "speed", "pin", "close_on_high")
+        for key in standard_overrides:
             if key not in gripper_kwargs:
                 value = nested_cfg.get(key, cfg.get(key))  # type: ignore
                 if value is not None:
@@ -1372,6 +1416,79 @@ 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-0.3.15 → urkit-0.3.17}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.15
+Version: 0.3.17
 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