urkit 0.3.17__tar.gz → 0.3.18__tar.gz

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (39) hide show
  1. {urkit-0.3.17 → urkit-0.3.18}/PKG-INFO +1 -1
  2. {urkit-0.3.17 → urkit-0.3.18}/pyproject.toml +1 -1
  3. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/__init__.py +1 -1
  4. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/teach.py +11 -0
  5. {urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/PKG-INFO +1 -1
  6. {urkit-0.3.17 → urkit-0.3.18}/README.md +0 -0
  7. {urkit-0.3.17 → urkit-0.3.18}/setup.cfg +0 -0
  8. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/__main__.py +0 -0
  9. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/__init__.py +0 -0
  10. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/colors.py +0 -0
  11. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/connection_monitor.py +0 -0
  12. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/points.py +0 -0
  13. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/config.py +0 -0
  14. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/connection.py +0 -0
  15. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/exceptions.py +0 -0
  16. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/geometry.py +0 -0
  17. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/__init__.py +0 -0
  18. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/base.py +0 -0
  19. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/digital.py +0 -0
  20. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/presets.py +0 -0
  21. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/robotiq.py +0 -0
  22. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/robotiq_preamble.py +0 -0
  23. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/io.py +0 -0
  24. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/motion.py +0 -0
  25. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/points.py +0 -0
  26. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/robot.py +0 -0
  27. {urkit-0.3.17 → urkit-0.3.18}/src/urkit/telemetry.py +0 -0
  28. {urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/SOURCES.txt +0 -0
  29. {urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/dependency_links.txt +0 -0
  30. {urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/entry_points.txt +0 -0
  31. {urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/requires.txt +0 -0
  32. {urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/top_level.txt +0 -0
  33. {urkit-0.3.17 → urkit-0.3.18}/tests/test_exceptions.py +0 -0
  34. {urkit-0.3.17 → urkit-0.3.18}/tests/test_geometry.py +0 -0
  35. {urkit-0.3.17 → urkit-0.3.18}/tests/test_gripper.py +0 -0
  36. {urkit-0.3.17 → urkit-0.3.18}/tests/test_gripper_factory.py +0 -0
  37. {urkit-0.3.17 → urkit-0.3.18}/tests/test_gripper_presets.py +0 -0
  38. {urkit-0.3.17 → urkit-0.3.18}/tests/test_points.py +0 -0
  39. {urkit-0.3.17 → urkit-0.3.18}/tests/test_robot_integration.py +0 -0
{urkit-0.3.17 → urkit-0.3.18}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: urkit
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- Version: 0.3.17
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+ Version: 0.3.18
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  Summary: Universal Robots e-Series control toolkit built on ur_rtde
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  Author: URKit Contributors
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  License: MIT
{urkit-0.3.17 → urkit-0.3.18}/pyproject.toml RENAMED
@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
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  [project]
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  name = "urkit"
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- version = "0.3.17"
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+ version = "0.3.18"
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  description = "Universal Robots e-Series control toolkit built on ur_rtde"
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  readme = "README.md"
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  license = {text = "MIT"}
{urkit-0.3.17 → urkit-0.3.18}/src/urkit/__init__.py RENAMED
@@ -24,7 +24,7 @@ Quick start::
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  from __future__ import annotations
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- __version__ = "0.3.17"
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+ __version__ = "0.3.18"
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  from urkit.config import load_config, resolve_config
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  from urkit.exceptions import (
{urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/teach.py RENAMED
@@ -11,6 +11,7 @@ Usage:
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  from __future__ import annotations
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+ from dataclasses import replace
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  import ipaddress
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  import logging
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  import math
@@ -1395,10 +1396,20 @@ def teach_command(args) -> None:
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  gripper_kwargs["close_on_high"] = cfg["close_on_high"] # type: ignore
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  # Resolve gripper string to config object
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+ # Apply physical overrides (tcp_offset, mass, center_of_gravity) from
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+ # config.yaml gripper_config section — same as URRobot.from_config()
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+ physical_overrides = ("tcp_offset", "mass", "center_of_gravity")
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+ physical_kwargs: dict = {}
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+ for key in physical_overrides:
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+ if key in cfg: # type: ignore
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+ physical_kwargs[key] = cfg[key] # type: ignore
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+
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  gripper_config = None
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  if gripper_name:
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  preset = PRESETS.get(gripper_name.upper()) # type: ignore
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  if preset is not None:
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+ if physical_kwargs:
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+ preset = replace(preset, **physical_kwargs)
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  gripper_config = preset
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  elif gripper_name == "digital":
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  gripper_config = DigitalGripperConfig( # type: ignore
{urkit-0.3.17 → urkit-0.3.18}/src/urkit.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
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  Metadata-Version: 2.4
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  Name: urkit
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- Version: 0.3.17
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+ Version: 0.3.18
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  Summary: Universal Robots e-Series control toolkit built on ur_rtde
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  Author: URKit Contributors
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  License: MIT
{urkit-0.3.17 → urkit-0.3.18}/README.md RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/setup.cfg RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/__main__.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/__init__.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/colors.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/cli/points.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/config.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/connection.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/exceptions.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/geometry.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/gripper/base.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/io.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/motion.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/points.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/robot.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/src/urkit/telemetry.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/tests/test_exceptions.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/tests/test_geometry.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/tests/test_gripper.py RENAMED
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{urkit-0.3.17 → urkit-0.3.18}/tests/test_points.py RENAMED
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