urkit 0.3.23__tar.gz → 0.3.24__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 (40) hide show
  1. {urkit-0.3.23 → urkit-0.3.24}/PKG-INFO +1 -1
  2. {urkit-0.3.23 → urkit-0.3.24}/pyproject.toml +1 -1
  3. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/motion.py +3 -2
  4. {urkit-0.3.23 → urkit-0.3.24}/src/urkit.egg-info/PKG-INFO +1 -1
  5. {urkit-0.3.23 → urkit-0.3.24}/README.md +0 -0
  6. {urkit-0.3.23 → urkit-0.3.24}/setup.cfg +0 -0
  7. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/__init__.py +0 -0
  8. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/__main__.py +0 -0
  9. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/__init__.py +0 -0
  10. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/colors.py +0 -0
  11. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/connection_monitor.py +0 -0
  12. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/points.py +0 -0
  13. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/teach.py +0 -0
  14. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/config.py +0 -0
  15. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/connection.py +0 -0
  16. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/exceptions.py +0 -0
  17. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/geometry.py +0 -0
  18. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/__init__.py +0 -0
  19. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/base.py +0 -0
  20. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/digital.py +0 -0
  21. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/presets.py +0 -0
  22. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/robotiq.py +0 -0
  23. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/robotiq_preamble.py +0 -0
  24. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/io.py +0 -0
  25. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/points.py +0 -0
  26. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/robot.py +0 -0
  27. {urkit-0.3.23 → urkit-0.3.24}/src/urkit/telemetry.py +0 -0
  28. {urkit-0.3.23 → urkit-0.3.24}/src/urkit.egg-info/SOURCES.txt +0 -0
  29. {urkit-0.3.23 → urkit-0.3.24}/src/urkit.egg-info/dependency_links.txt +0 -0
  30. {urkit-0.3.23 → urkit-0.3.24}/src/urkit.egg-info/entry_points.txt +0 -0
  31. {urkit-0.3.23 → urkit-0.3.24}/src/urkit.egg-info/requires.txt +0 -0
  32. {urkit-0.3.23 → urkit-0.3.24}/src/urkit.egg-info/top_level.txt +0 -0
  33. {urkit-0.3.23 → urkit-0.3.24}/tests/test_exceptions.py +0 -0
  34. {urkit-0.3.23 → urkit-0.3.24}/tests/test_geometry.py +0 -0
  35. {urkit-0.3.23 → urkit-0.3.24}/tests/test_gripper.py +0 -0
  36. {urkit-0.3.23 → urkit-0.3.24}/tests/test_gripper_factory.py +0 -0
  37. {urkit-0.3.23 → urkit-0.3.24}/tests/test_gripper_presets.py +0 -0
  38. {urkit-0.3.23 → urkit-0.3.24}/tests/test_move_sequence.py +0 -0
  39. {urkit-0.3.23 → urkit-0.3.24}/tests/test_points.py +0 -0
  40. {urkit-0.3.23 → urkit-0.3.24}/tests/test_robot_integration.py +0 -0
{urkit-0.3.23 → urkit-0.3.24}/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: 0.3.23
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+ Version: 0.3.24
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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-0.3.23 → urkit-0.3.24}/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 = "0.3.23"
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+ version = "0.3.24"
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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-0.3.23 → urkit-0.3.24}/src/urkit/motion.py RENAMED
@@ -408,10 +408,11 @@ class Motion:
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  t_start = self._rtde_c.initPeriod()
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  self._rtde_c.speedL(speed_vector, acceleration, 0.002)
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- # Check force/torque for contact
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+ # Check force/torque for contact — only on moving axes
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  current = list(self._rtde_r.getActualTCPForce())
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+ moving_axes = [i for i in range(6) if abs(speed_vector[i]) > 0]
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  if any(
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- abs(current[i] - baseline[i]) > threshold for i in range(6)
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+ abs(current[i] - baseline[i]) > threshold for i in moving_axes
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  ):
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  contact_detected = True
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  break
{urkit-0.3.23 → urkit-0.3.24}/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: 0.3.23
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+ Version: 0.3.24
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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-0.3.23 → urkit-0.3.24}/README.md RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/setup.cfg RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/__init__.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/__main__.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/__init__.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/colors.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/points.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/cli/teach.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/config.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/connection.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/exceptions.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/geometry.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/gripper/base.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/io.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/points.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/robot.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/src/urkit/telemetry.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/tests/test_exceptions.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/tests/test_geometry.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/tests/test_gripper.py RENAMED
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{urkit-0.3.23 → urkit-0.3.24}/tests/test_points.py RENAMED
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