Changelog¶

0.2.0 — 2026-09-14¶

Hardware-verified on a KUKA KR 16-2 (KRC4, KSS 8.3, RSI 3.3) on 2026-08 and 2026-09-10; see docs/hardware-findings.md.

RSIPI.context("joints") (default), basic, max, full, onlysend, stop — resolved by name, installed as package data. config_file is now a required argument to RSIAPI.
python -m RSIPI.deploy copies a context's four files out for the controller; python -m RSIPI.config_builder generates the Ethernet config from a .rsi.xml (reproduces all six shipped configs channel for channel).
All contexts now carry POSCORRMON/AXISCORRMON (500 mm / 180°). Without them the controller applies its 6 mm / 6° overall-correction default and stops RSI with KSS29000 — found on the robot.
RSIPI_Max: applied-correction monitors, motor currents, analogue I/O, $SEN_PINT, program override — verified 11/11 on hardware. Its output word is Index=3 = $OUT[17..32].
RSIPI_Stop: STOP object (Mode = ExitMoveCorr) — verified; the earlier build's invented Channel parameter was what disabled corrections.
RSI_EthernetConfig_Max.xml no longer declares the PosCorrStat SEND element (index 22) that the context stopped wiring.

monitoring: get_motor_currents() (raises when MACur is not wired; MACur equals $CURR_ACT), get_applied_correction(), get_applied_joint_correction(), get_override() / set_override() (1–100, never clamps), get_correction_limit_status(), get_robot_status().
io: read_analog() / set_analog(). krl: read_sen_pint() / write_sen_pint().
Trajectory queue takes cycles_per_step; rate= is a deprecated alias.
cycles_per_step > 1 now spreads each waypoint's delta over its cycles instead of sending it in one cycle and holding — the old behaviour hammered the robot audibly and was silently shortened by the rate limiter.

Values are sent as their declared type (BOOL as 1/0, LONG as an integer, DOUBLE to 6 dp), and inbound scalars/attributes are coerced to their declared type by value.
OvProW defaults to 100 so a context with MAP2OV_PRO never commands 0 % override at start.
EKorr is covered by E-stop and zero_corrections().
RSIAPI.start() re-raises when the client thread dies instead of reporting success.

18 numbered examples, all gated by a confirm() prompt before motion and all runnable against the emulator via examples/dry_run.py.
examples/teleop/ (Xbox pad or hand-tracking teleoperation) has moved to the PhD applications repo, history included; RSIPI ships no teleop code.

docs/rsi-objects.md (all 74 RSI objects and how they reach KRL), docs/hardware-findings.md, docs/hardware-test-plan.md, docs/controller-setup.md.

Published on PyPI: pip install RSIPI. Requires Python 3.10+ (the CLI and viz use match).
lxml and scipy dropped from the dependencies — nothing imported them.
RSIPI.__version__ now matches the released version (it said 2.0.0); tests/test_version.py keeps the two in step.
Releases build and upload from GitHub Actions (publish.yml) through PyPI trusted publishing — no API token is stored anywhere.

Initial public version.