urkit 0.2.0__tar.gz → 0.2.1__tar.gz

{urkit-0.2.0 → urkit-0.2.1}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.2.0
+Version: 0.2.1
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -71,16 +71,14 @@ Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 
 That's it. No `.urp` files to run, no extra programs needed.
 
-### Robotiq Grippers (optional)
+### Example
 
-Install the **Robotiq Gripper Control** URCap: download from [robotiq.com/support](https://robotiq.com/support), copy the `.urcap` to a USB drive, mount on the robot, and install via `☰` → `Settings` → `System` → `URCaps`.
-
-### Hello World
+If you have a Robotiq gripper, install the **Robotiq Gripper Control** URCap first: download from [robotiq.com/support](https://robotiq.com/support), copy the `.urcap` to a USB drive, and install via `☰` → `Settings` → `System` → `URCaps`.
 
 ```python
-from urkit import URRobot, ROBOTIQ_HAND_E
+from urkit import URRobot, ROBOTIQ_2F_85  # or ROBOTIQ_2F_140, ROBOTIQ_HAND_E, or gripper=none
 
-robot = URRobot(ip="172.31.1.200", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="172.31.1.200", points="points.db", gripper=ROBOTIQ_2F_85)
 robot.gripper.activate()
 
 robot.move_to("home")
@@ -324,6 +322,16 @@ robot.move_to([0.5, 0, 0.3, 0, 0, 0])     # [x, y, z, rx, ry, rz]
 robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])  # 5cm above pick
 ```
 
+#### Resolve a Pose
+
+Get a pose without moving — useful for logging, comparisons, or custom motion:
+
+```python
+pose = robot.get_pose("pick")
+pose = robot.get_pose("pick", offset=[0, 0, 0.05, 0, 0, 0])  # with offset
+robot.move_to(pose)  # move to the resolved pose later
+```
+
 #### Coordinate Frame
 
 ```python
@@ -517,14 +525,15 @@ robot.rtde_receive.getActualCurrent()
 
 Full `ur_rtde` documentation: <https://sdurobotics.gitlab.io/ur_rtde/>
 
-### Connection Lifecycle
+### Connection Monitoring
 
 ```python
 robot.connection_lost       # bool: check if RTDE dropped
 robot.reconnect_rtde()      # reconnect after a drop
-robot.disconnect()          # clean shutdown
 ```
 
+`disconnect()` is called automatically when the robot object is garbage collected.
+
 ### Error Handling
 
 ```python

{urkit-0.2.0 → urkit-0.2.1}/README.md

@@ -45,16 +45,14 @@ Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 
 That's it. No `.urp` files to run, no extra programs needed.
 
-### Robotiq Grippers (optional)
+### Example
 
-Install the **Robotiq Gripper Control** URCap: download from [robotiq.com/support](https://robotiq.com/support), copy the `.urcap` to a USB drive, mount on the robot, and install via `☰` → `Settings` → `System` → `URCaps`.
-
-### Hello World
+If you have a Robotiq gripper, install the **Robotiq Gripper Control** URCap first: download from [robotiq.com/support](https://robotiq.com/support), copy the `.urcap` to a USB drive, and install via `☰` → `Settings` → `System` → `URCaps`.
 
 ```python
-from urkit import URRobot, ROBOTIQ_HAND_E
+from urkit import URRobot, ROBOTIQ_2F_85  # or ROBOTIQ_2F_140, ROBOTIQ_HAND_E, or gripper=none
 
-robot = URRobot(ip="172.31.1.200", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="172.31.1.200", points="points.db", gripper=ROBOTIQ_2F_85)
 robot.gripper.activate()
 
 robot.move_to("home")
@@ -298,6 +296,16 @@ robot.move_to([0.5, 0, 0.3, 0, 0, 0])     # [x, y, z, rx, ry, rz]
 robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])  # 5cm above pick
 ```
 
+#### Resolve a Pose
+
+Get a pose without moving — useful for logging, comparisons, or custom motion:
+
+```python
+pose = robot.get_pose("pick")
+pose = robot.get_pose("pick", offset=[0, 0, 0.05, 0, 0, 0])  # with offset
+robot.move_to(pose)  # move to the resolved pose later
+```
+
 #### Coordinate Frame
 
 ```python
@@ -491,14 +499,15 @@ robot.rtde_receive.getActualCurrent()
 
 Full `ur_rtde` documentation: <https://sdurobotics.gitlab.io/ur_rtde/>
 
-### Connection Lifecycle
+### Connection Monitoring
 
 ```python
 robot.connection_lost       # bool: check if RTDE dropped
 robot.reconnect_rtde()      # reconnect after a drop
-robot.disconnect()          # clean shutdown
 ```
 
+`disconnect()` is called automatically when the robot object is garbage collected.
+
 ### Error Handling
 
 ```python

{urkit-0.2.0 → urkit-0.2.1}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.2.0"
+version = "0.2.1"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.2.0 → urkit-0.2.1}/src/urkit/robot.py

@@ -784,6 +784,49 @@ class URRobot:
     # Motion
     # ------------------------------------------------------------------
 
+    def get_pose(
+        self,
+        target: str | list[float],
+        *,
+        offset: list[float] | None = None,
+        frame: MoveFrame | None = None,
+    ) -> list[float]:
+        """Resolve a saved point or raw pose to a TCP pose.
+
+        Like ``move_to`` but returns the pose instead of moving.
+        Useful for logging, comparisons, or custom motion logic.
+
+        Args:
+            target: A saved point name (str) or a raw TCP pose
+                [x, y, z, rx, ry, rz].
+            offset: Optional offset [dx, dy, dz, droll, dpitch, dyaw]
+                applied to the target pose.
+            frame: Coordinate frame for the offset. Falls back to the
+                current ``move_frame`` property (BASE or TOOL).
+
+        Returns:
+            TCP pose as [x, y, z, rx, ry, rz].
+
+        Raises:
+            PointError: If the named point is not found or offset is invalid.
+
+        Example:
+            >>> pose = robot.get_pose("pick")
+            >>> pose = robot.get_pose("pick", offset=[0, 0, 0.05, 0, 0, 0])
+            >>> robot.move_to(pose)
+        """
+        point = self._lookup_point(target)
+
+        if offset is not None:
+            if len(offset) != 6:
+                raise PointError(
+                    f"Offset must have 6 values [dx, dy, dz, droll, dpitch, dyaw], "
+                    f"got {len(offset)}."
+                )
+            point = point.with_offset(offset, frame=frame or self._move_frame)
+
+        return list(point.pose)
+
     def move_to(
         self,
         target: str | list[float],

{urkit-0.2.0 → urkit-0.2.1}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.2.0
+Version: 0.2.1
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -71,16 +71,14 @@ Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 
 That's it. No `.urp` files to run, no extra programs needed.
 
-### Robotiq Grippers (optional)
+### Example
 
-Install the **Robotiq Gripper Control** URCap: download from [robotiq.com/support](https://robotiq.com/support), copy the `.urcap` to a USB drive, mount on the robot, and install via `☰` → `Settings` → `System` → `URCaps`.
-
-### Hello World
+If you have a Robotiq gripper, install the **Robotiq Gripper Control** URCap first: download from [robotiq.com/support](https://robotiq.com/support), copy the `.urcap` to a USB drive, and install via `☰` → `Settings` → `System` → `URCaps`.
 
 ```python
-from urkit import URRobot, ROBOTIQ_HAND_E
+from urkit import URRobot, ROBOTIQ_2F_85  # or ROBOTIQ_2F_140, ROBOTIQ_HAND_E, or gripper=none
 
-robot = URRobot(ip="172.31.1.200", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="172.31.1.200", points="points.db", gripper=ROBOTIQ_2F_85)
 robot.gripper.activate()
 
 robot.move_to("home")
@@ -324,6 +322,16 @@ robot.move_to([0.5, 0, 0.3, 0, 0, 0])     # [x, y, z, rx, ry, rz]
 robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])  # 5cm above pick
 ```
 
+#### Resolve a Pose
+
+Get a pose without moving — useful for logging, comparisons, or custom motion:
+
+```python
+pose = robot.get_pose("pick")
+pose = robot.get_pose("pick", offset=[0, 0, 0.05, 0, 0, 0])  # with offset
+robot.move_to(pose)  # move to the resolved pose later
+```
+
 #### Coordinate Frame
 
 ```python
@@ -517,14 +525,15 @@ robot.rtde_receive.getActualCurrent()
 
 Full `ur_rtde` documentation: <https://sdurobotics.gitlab.io/ur_rtde/>
 
-### Connection Lifecycle
+### Connection Monitoring
 
 ```python
 robot.connection_lost       # bool: check if RTDE dropped
 robot.reconnect_rtde()      # reconnect after a drop
-robot.disconnect()          # clean shutdown
 ```
 
+`disconnect()` is called automatically when the robot object is garbage collected.
+
 ### Error Handling
 
 ```python