urkit 0.3.2__tar.gz → 0.3.4__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-0.3.2 → urkit-0.3.4}/PKG-INFO +3 -3
  2. {urkit-0.3.2 → urkit-0.3.4}/README.md +2 -2
  3. {urkit-0.3.2 → urkit-0.3.4}/pyproject.toml +1 -1
  4. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/__init__.py +1 -1
  5. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/teach.py +8 -2
  6. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/robot.py +2 -0
  7. {urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/PKG-INFO +3 -3
  8. {urkit-0.3.2 → urkit-0.3.4}/setup.cfg +0 -0
  9. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/__main__.py +0 -0
  10. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/__init__.py +0 -0
  11. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/colors.py +0 -0
  12. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/connection_monitor.py +0 -0
  13. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/points.py +0 -0
  14. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/config.py +0 -0
  15. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/connection.py +0 -0
  16. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/exceptions.py +0 -0
  17. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/geometry.py +0 -0
  18. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/__init__.py +0 -0
  19. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/base.py +0 -0
  20. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/digital.py +0 -0
  21. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/presets.py +0 -0
  22. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/robotiq.py +0 -0
  23. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/robotiq_preamble.py +0 -0
  24. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/io.py +0 -0
  25. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/motion.py +0 -0
  26. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/points.py +0 -0
  27. {urkit-0.3.2 → urkit-0.3.4}/src/urkit/telemetry.py +0 -0
  28. {urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/SOURCES.txt +0 -0
  29. {urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/dependency_links.txt +0 -0
  30. {urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/entry_points.txt +0 -0
  31. {urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/requires.txt +0 -0
  32. {urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/top_level.txt +0 -0
  33. {urkit-0.3.2 → urkit-0.3.4}/tests/test_exceptions.py +0 -0
  34. {urkit-0.3.2 → urkit-0.3.4}/tests/test_geometry.py +0 -0
  35. {urkit-0.3.2 → urkit-0.3.4}/tests/test_gripper.py +0 -0
  36. {urkit-0.3.2 → urkit-0.3.4}/tests/test_gripper_factory.py +0 -0
  37. {urkit-0.3.2 → urkit-0.3.4}/tests/test_gripper_presets.py +0 -0
  38. {urkit-0.3.2 → urkit-0.3.4}/tests/test_points.py +0 -0
  39. {urkit-0.3.2 → urkit-0.3.4}/tests/test_robot_integration.py +0 -0
{urkit-0.3.2 → urkit-0.3.4}/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
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  Metadata-Version: 2.4
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  Name: urkit
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- Version: 0.3.2
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+ Version: 0.3.4
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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
@@ -672,8 +672,8 @@ See [CHANGELOG.md](CHANGELOG.md) for the full version history.
672
672
 
673
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  ### Recent Changes
674
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675
- - **v3.2** — Gripper speed/force keys (6/7), force/speed display
676
- - **v3.1** — Async motion, Space cancel, progress bar, joint display
675
+ - **v0.3.2** — Gripper speed/force keys (6/7), force/speed display
676
+ - **v0.3.1** — Async motion, Space cancel, progress bar, joint display
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  - **v0.3.0** — Safe/expert mode, speed_stop on exit, safety features
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  - **v0.2.1** — `get_pose()` method
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  - **v0.2.0** — README restructure
{urkit-0.3.2 → urkit-0.3.4}/README.md RENAMED
@@ -646,8 +646,8 @@ See [CHANGELOG.md](CHANGELOG.md) for the full version history.
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  ### Recent Changes
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649
- - **v3.2** — Gripper speed/force keys (6/7), force/speed display
650
- - **v3.1** — Async motion, Space cancel, progress bar, joint display
649
+ - **v0.3.2** — Gripper speed/force keys (6/7), force/speed display
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+ - **v0.3.1** — Async motion, Space cancel, progress bar, joint display
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  - **v0.3.0** — Safe/expert mode, speed_stop on exit, safety features
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  - **v0.2.1** — `get_pose()` method
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  - **v0.2.0** — README restructure
{urkit-0.3.2 → urkit-0.3.4}/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 = "0.3.2"
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+ version = "0.3.4"
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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-0.3.2 → urkit-0.3.4}/src/urkit/__init__.py RENAMED
@@ -24,7 +24,7 @@ Quick start::
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  from __future__ import annotations
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- __version__ = "0.3.2"
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+ __version__ = "0.3.4"
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  from urkit.config import load_config, resolve_config
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  from urkit.exceptions import (
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/teach.py RENAMED
@@ -68,6 +68,10 @@ _DEFAULT_ANGULAR_STEP = math.radians(0.5) # 0.5 degrees in radians
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  _DEFAULT_ANGULAR_STEP_MIN = math.radians(0.1) # 0.1 degrees
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  _DEFAULT_ANGULAR_STEP_MAX = math.radians(5) # 5 degrees
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+ # Safe mode step caps (tighter for teaching)
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+ _SAFE_LINEAR_STEP_MAX = 0.01 # 10mm
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+ _SAFE_ANGULAR_STEP_MAX = math.radians(1.0) # 1 degree
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+
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  # Safe motion limits (UR protective stop thresholds)
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  _MAX_VEL = 3.0 # m/s
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  _MAX_ACC = 6.0 # m/s²
@@ -1111,7 +1115,8 @@ def _teach_pendant(
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  try:
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  mm = float(val) # type: ignore
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  state["linear_step"] = max(mm / 1000, _DEFAULT_LINEAR_STEP_MIN)
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- state["linear_step"] = min(state["linear_step"], _DEFAULT_LINEAR_STEP_MAX)
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+ cap = _SAFE_LINEAR_STEP_MAX if not expert_mode else _DEFAULT_LINEAR_STEP_MAX
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+ state["linear_step"] = min(state["linear_step"], cap)
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  except (ValueError, TypeError):
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  messages.append("Invalid step value")
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  command_handled = True
@@ -1121,7 +1126,8 @@ def _teach_pendant(
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  try:
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  deg = float(val) # type: ignore
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  state["angular_step"] = max(math.radians(deg), _DEFAULT_ANGULAR_STEP_MIN)
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- state["angular_step"] = min(state["angular_step"], _DEFAULT_ANGULAR_STEP_MAX)
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+ cap = _SAFE_ANGULAR_STEP_MAX if not expert_mode else _DEFAULT_ANGULAR_STEP_MAX
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+ state["angular_step"] = min(state["angular_step"], cap)
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  except (ValueError, TypeError):
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  messages.append("Invalid step value")
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  command_handled = True
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/robot.py RENAMED
@@ -894,6 +894,8 @@ class URRobot:
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  try:
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  if linear:
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+ if not self._rtde_c.getInverseKinematicsHasSolution(pose):
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+ raise MotionError(f"Pose unreachable: {pose}")
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  self._motion.movel(pose, vel=vel, acc=acc, asynchronous=asynchronous)
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  else:
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  joints = self.inverse_kinematics(pose)
{urkit-0.3.2 → urkit-0.3.4}/src/urkit.egg-info/PKG-INFO RENAMED
@@ -1,6 +1,6 @@
1
1
  Metadata-Version: 2.4
2
2
  Name: urkit
3
- Version: 0.3.2
3
+ Version: 0.3.4
4
4
  Summary: Universal Robots e-Series control toolkit built on ur_rtde
5
5
  Author: URKit Contributors
6
6
  License: MIT
@@ -672,8 +672,8 @@ See [CHANGELOG.md](CHANGELOG.md) for the full version history.
672
672
 
673
673
  ### Recent Changes
674
674
 
675
- - **v3.2** — Gripper speed/force keys (6/7), force/speed display
676
- - **v3.1** — Async motion, Space cancel, progress bar, joint display
675
+ - **v0.3.2** — Gripper speed/force keys (6/7), force/speed display
676
+ - **v0.3.1** — Async motion, Space cancel, progress bar, joint display
677
677
  - **v0.3.0** — Safe/expert mode, speed_stop on exit, safety features
678
678
  - **v0.2.1** — `get_pose()` method
679
679
  - **v0.2.0** — README restructure
{urkit-0.3.2 → urkit-0.3.4}/setup.cfg RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/__main__.py RENAMED
File without changes
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/__init__.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/colors.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/cli/points.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/config.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/connection.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/exceptions.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/geometry.py RENAMED
File without changes
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/gripper/base.py RENAMED
File without changes
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/io.py RENAMED
File without changes
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/motion.py RENAMED
File without changes
{urkit-0.3.2 → urkit-0.3.4}/src/urkit/points.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/src/urkit/telemetry.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/tests/test_exceptions.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/tests/test_geometry.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/tests/test_gripper.py RENAMED
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{urkit-0.3.2 → urkit-0.3.4}/tests/test_points.py RENAMED
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