urkit 0.3.0__tar.gz → 0.3.3__tar.gz

{urkit-0.3.0 → urkit-0.3.3}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.0
+Version: 0.3.3
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -52,6 +52,7 @@ Built on [`ur_rtde`](https://sdurobotics.gitlab.io/ur_rtde/), it packages the op
   - [Raw RTDE Access](#raw-rtde-access)
   - [Connection Lifecycle](#connection-lifecycle)
   - [Error Handling](#error-handling)
+- [Changelog](#changelog)
 
 ---
 
@@ -189,13 +190,16 @@ All movement and orientation keys support **hold-to-repeat**.
         <tr><td><code>X</code></td><td>Open</td></tr>
         <tr><td><code>C</code></td><td>Close</td></tr>
         <tr><td><code>V</code></td><td>Set position (mm)</td></tr>
+        <tr><td><code>6</code></td><td>Set speed (0-100)</td></tr>
+        <tr><td><code>7</code></td><td>Set force (0-100)</td></tr>
+        <tr><td colspan="3">Gripper line shows: `Connected 50.0mm (0%) F=100 S=100`</td></tr>
       </table>
     </td>
     <td align="center" style="width:33%">
       <table>
         <tr><th>Key</th><th>Action</th></tr>
         <tr><td><code>B</code></td><td><strong>Save</strong> current position</td></tr>
-        <tr><td><code>G</code></td><td>Go to saved point</td></tr>
+        <tr><td><code>G</code></td><td>Go to saved point (<code>Space</code> to cancel mid-move, <code>ESC</code> to exit)</td></tr>
         <tr><td><code>H</code></td><td>Delete saved point</td></tr>
         <tr><td><code>P</code></td><td>Open points explorer</td></tr>
         <tr><td><code>R</code></td><td>Rename saved point</td></tr>
@@ -215,6 +219,35 @@ All movement and orientation keys support **hold-to-repeat**.
   </tr>
 </table>
 
+### Joint Display
+
+The teach pendant shows live joint angles alongside TCP position and orientation:
+
+```
+ Position      X=+0.432  Y=+0.111  Z=+0.227
+ Orientation   R=+131.3  P=-121.0  Y= +8.0
+ Joints        J1=+150.0  J2=+020.0  J3=+160.0
+               J4=+050.0  J5=-080.0  J6=+157.0
+```
+
+Joint angles color-code proximity to mechanical limits:
+
+- **Yellow**: within 10% of joint range (warning)
+- **Red**: within 5% of joint range (danger)
+
+UR e-Series joint limits:
+
+| Joint | Range | Notes |
+|-------|-------|-------|
+| J1 (shoulder pan) | ±360° | Full rotation |
+| J2 (shoulder lift) | ±360° | Full rotation |
+| J3 (elbow) | ±180° | Physically restricted — shoulder lift gets in the way |
+| J4 (wrist 1) | ±360° | Full rotation |
+| J5 (wrist 2) | ±360° | Full rotation |
+| J6 (wrist 3) | ±360° | Tool flange unlimited rotation |
+
+Thresholds scale with each joint's range, so warning zones feel proportional across all joints.
+
 ### Safety
 
 By default, **Go To** and **TCP Down** movements use a slow velocity (0.125 m/s) so its safer for anyone standing near the robot. The user's speed slider still applies as a global multiplier on top of this.
@@ -325,10 +358,34 @@ robot.points_db = "points.db"
 robot.move_to("pick")                      # linear move (default)
 robot.move_to("pick", linear=False)        # joint move
 robot.move_to("pick", vel=1.0, acc=0.5)    # override speed
+robot.move_to("pick", asynchronous=True)   # non-blocking, returns immediately
 ```
 
 - **Linear (moveL):** TCP moves in a straight line. Predictable path, slower near complex orientations.
 - **Joint (moveJ):** Each joint moves simultaneously. Faster, but the TCP follows an arc.
+- **Asynchronous:** When `asynchronous=True`, the move runs in the UR controller's background thread and the method returns immediately.
+
+#### Non-Blocking Moves
+
+Start a move and do other things while it runs:
+
+```python
+robot.move_to("pick", asynchronous=True)
+
+# Poll until done
+while robot.is_moving():
+    time.sleep(0.01)
+
+# Or cancel mid-move
+robot.move_to("pick", asynchronous=True)
+while robot.is_moving():
+    if should_cancel:
+        robot.stop()  # sends stopL + stopJ
+        break
+    time.sleep(0.01)
+```
+
+**Teach pendant Go To** uses this pattern internally — Space cancels the move and returns to the menu.
 
 #### Pose Format
 
@@ -420,6 +477,7 @@ robot.is_freedrive_active             # check state
 #### Speed Control
 
 ```python
+robot.stop()                          # stop current move immediately (stopL + stopJ)
 robot.speed_stop()                    # stop velocity-controlled motion (not E-stop)
 robot.set_speed_slider(0.5)           # 50% velocity cap
 robot.get_speed_slider()              # read current slider (0.0-1.0)
@@ -441,9 +499,26 @@ joints = robot.get_joint_positions()  # [j0..j5]
 force = robot.get_tcp_force()         # [fx, fy, fz, mx, my, mz]
 mode = robot.get_robot_mode()         # "REMOTE_CONTROL", "SERVOING", etc.
 payload = robot.get_payload()         # kg
+robot.is_moving()                     # bool — any joint/TCP velocity non-zero
 robot.is_protective_stopped()         # bool
 robot.is_emergency_stopped()          # bool
 robot.current_point()                 # {"pose": [...], "joints": [...]}
+robot.is_at_pose(target)              # bool — TCP within 1mm / 0.5°
+robot.is_at_joints(target)            # bool — all joints within 0.001 rad
+```
+
+`is_moving()` is the simplest way to poll — `is_at_pose()` / `is_at_joints()` for precise target checking:
+
+```python
+robot.move_to("pick", asynchronous=True)
+
+# Simple: wait until robot stops
+while robot.is_moving():
+    time.sleep(0.01)
+
+# Precise: check against specific target
+while not robot.is_at_pose(target_pose):
+    time.sleep(0.01)
 ```
 
 ### Digital I/O
@@ -588,3 +663,20 @@ When the robot enters protective stop or the RTDE connection drops, motion comma
 ### Connection Notes
 
 The `URRobot` constructor takes a few seconds on first call: it validates the connection, checks remote mode, powers on the robot, releases brakes, and connects RTDE. Subsequent calls are faster if the robot is already running.
+
+---
+
+## Changelog
+
+See [CHANGELOG.md](CHANGELOG.md) for the full version history.
+
+### Recent Changes
+
+- **v0.3.2** — Gripper speed/force keys (6/7), force/speed display
+- **v0.3.1** — Async motion, Space cancel, progress bar, joint display
+- **v0.3.0** — Safe/expert mode, speed_stop on exit, safety features
+- **v0.2.1** — `get_pose()` method
+- **v0.2.0** — README restructure
+- **v0.1.1** — `--gripper none`, `--config` flag, save config on demand
+- **v0.1.0** — Initial release
+

{urkit-0.3.0 → urkit-0.3.3}/README.md

@@ -26,6 +26,7 @@ Built on [`ur_rtde`](https://sdurobotics.gitlab.io/ur_rtde/), it packages the op
   - [Raw RTDE Access](#raw-rtde-access)
   - [Connection Lifecycle](#connection-lifecycle)
   - [Error Handling](#error-handling)
+- [Changelog](#changelog)
 
 ---
 
@@ -163,13 +164,16 @@ All movement and orientation keys support **hold-to-repeat**.
         <tr><td><code>X</code></td><td>Open</td></tr>
         <tr><td><code>C</code></td><td>Close</td></tr>
         <tr><td><code>V</code></td><td>Set position (mm)</td></tr>
+        <tr><td><code>6</code></td><td>Set speed (0-100)</td></tr>
+        <tr><td><code>7</code></td><td>Set force (0-100)</td></tr>
+        <tr><td colspan="3">Gripper line shows: `Connected 50.0mm (0%) F=100 S=100`</td></tr>
       </table>
     </td>
     <td align="center" style="width:33%">
       <table>
         <tr><th>Key</th><th>Action</th></tr>
         <tr><td><code>B</code></td><td><strong>Save</strong> current position</td></tr>
-        <tr><td><code>G</code></td><td>Go to saved point</td></tr>
+        <tr><td><code>G</code></td><td>Go to saved point (<code>Space</code> to cancel mid-move, <code>ESC</code> to exit)</td></tr>
         <tr><td><code>H</code></td><td>Delete saved point</td></tr>
         <tr><td><code>P</code></td><td>Open points explorer</td></tr>
         <tr><td><code>R</code></td><td>Rename saved point</td></tr>
@@ -189,6 +193,35 @@ All movement and orientation keys support **hold-to-repeat**.
   </tr>
 </table>
 
+### Joint Display
+
+The teach pendant shows live joint angles alongside TCP position and orientation:
+
+```
+ Position      X=+0.432  Y=+0.111  Z=+0.227
+ Orientation   R=+131.3  P=-121.0  Y= +8.0
+ Joints        J1=+150.0  J2=+020.0  J3=+160.0
+               J4=+050.0  J5=-080.0  J6=+157.0
+```
+
+Joint angles color-code proximity to mechanical limits:
+
+- **Yellow**: within 10% of joint range (warning)
+- **Red**: within 5% of joint range (danger)
+
+UR e-Series joint limits:
+
+| Joint | Range | Notes |
+|-------|-------|-------|
+| J1 (shoulder pan) | ±360° | Full rotation |
+| J2 (shoulder lift) | ±360° | Full rotation |
+| J3 (elbow) | ±180° | Physically restricted — shoulder lift gets in the way |
+| J4 (wrist 1) | ±360° | Full rotation |
+| J5 (wrist 2) | ±360° | Full rotation |
+| J6 (wrist 3) | ±360° | Tool flange unlimited rotation |
+
+Thresholds scale with each joint's range, so warning zones feel proportional across all joints.
+
 ### Safety
 
 By default, **Go To** and **TCP Down** movements use a slow velocity (0.125 m/s) so its safer for anyone standing near the robot. The user's speed slider still applies as a global multiplier on top of this.
@@ -299,10 +332,34 @@ robot.points_db = "points.db"
 robot.move_to("pick")                      # linear move (default)
 robot.move_to("pick", linear=False)        # joint move
 robot.move_to("pick", vel=1.0, acc=0.5)    # override speed
+robot.move_to("pick", asynchronous=True)   # non-blocking, returns immediately
 ```
 
 - **Linear (moveL):** TCP moves in a straight line. Predictable path, slower near complex orientations.
 - **Joint (moveJ):** Each joint moves simultaneously. Faster, but the TCP follows an arc.
+- **Asynchronous:** When `asynchronous=True`, the move runs in the UR controller's background thread and the method returns immediately.
+
+#### Non-Blocking Moves
+
+Start a move and do other things while it runs:
+
+```python
+robot.move_to("pick", asynchronous=True)
+
+# Poll until done
+while robot.is_moving():
+    time.sleep(0.01)
+
+# Or cancel mid-move
+robot.move_to("pick", asynchronous=True)
+while robot.is_moving():
+    if should_cancel:
+        robot.stop()  # sends stopL + stopJ
+        break
+    time.sleep(0.01)
+```
+
+**Teach pendant Go To** uses this pattern internally — Space cancels the move and returns to the menu.
 
 #### Pose Format
 
@@ -394,6 +451,7 @@ robot.is_freedrive_active             # check state
 #### Speed Control
 
 ```python
+robot.stop()                          # stop current move immediately (stopL + stopJ)
 robot.speed_stop()                    # stop velocity-controlled motion (not E-stop)
 robot.set_speed_slider(0.5)           # 50% velocity cap
 robot.get_speed_slider()              # read current slider (0.0-1.0)
@@ -415,9 +473,26 @@ joints = robot.get_joint_positions()  # [j0..j5]
 force = robot.get_tcp_force()         # [fx, fy, fz, mx, my, mz]
 mode = robot.get_robot_mode()         # "REMOTE_CONTROL", "SERVOING", etc.
 payload = robot.get_payload()         # kg
+robot.is_moving()                     # bool — any joint/TCP velocity non-zero
 robot.is_protective_stopped()         # bool
 robot.is_emergency_stopped()          # bool
 robot.current_point()                 # {"pose": [...], "joints": [...]}
+robot.is_at_pose(target)              # bool — TCP within 1mm / 0.5°
+robot.is_at_joints(target)            # bool — all joints within 0.001 rad
+```
+
+`is_moving()` is the simplest way to poll — `is_at_pose()` / `is_at_joints()` for precise target checking:
+
+```python
+robot.move_to("pick", asynchronous=True)
+
+# Simple: wait until robot stops
+while robot.is_moving():
+    time.sleep(0.01)
+
+# Precise: check against specific target
+while not robot.is_at_pose(target_pose):
+    time.sleep(0.01)
 ```
 
 ### Digital I/O
@@ -562,3 +637,20 @@ When the robot enters protective stop or the RTDE connection drops, motion comma
 ### Connection Notes
 
 The `URRobot` constructor takes a few seconds on first call: it validates the connection, checks remote mode, powers on the robot, releases brakes, and connects RTDE. Subsequent calls are faster if the robot is already running.
+
+---
+
+## Changelog
+
+See [CHANGELOG.md](CHANGELOG.md) for the full version history.
+
+### Recent Changes
+
+- **v0.3.2** — Gripper speed/force keys (6/7), force/speed display
+- **v0.3.1** — Async motion, Space cancel, progress bar, joint display
+- **v0.3.0** — Safe/expert mode, speed_stop on exit, safety features
+- **v0.2.1** — `get_pose()` method
+- **v0.2.0** — README restructure
+- **v0.1.1** — `--gripper none`, `--config` flag, save config on demand
+- **v0.1.0** — Initial release
+

{urkit-0.3.0 → urkit-0.3.3}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.0"
+version = "0.3.3"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}
@@ -71,3 +71,7 @@ line-length = 99
 
 [tool.ruff.lint]
 select = ["E", "F", "I", "N", "W", "UP"]
+
+[tool.mypy]
+follow_imports = "skip"
+ignore_missing_imports = true

{urkit-0.3.0 → urkit-0.3.3}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.0"
+__version__ = "0.3.3"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.0 → urkit-0.3.3}/src/urkit/cli/points.py

@@ -73,7 +73,7 @@ def _explore_points(args) -> None:
     # Resolve points path
     config = load_config()
     points_path = args.points_path or config.get("points_path") or "points.db"
-    points_path = Path(points_path).resolve()
+    points_path = Path(points_path).resolve()  # type: ignore
 
     if not points_path.exists():
         print(f"Error: Points database not found: {points_path}")
@@ -126,8 +126,6 @@ def _interactive_points_filter(points_db: Points, all_points: list[str], points_
     termios.tcsetattr(sys.stdin, termios.TCSADRAIN, new_settings)
 
     fd = sys.stdin.fileno()
-    # Rich auto-detects dark/light terminal theme
-    console = Console(force_terminal=True)
 
     try:
         while True:
@@ -276,25 +274,6 @@ def _interactive_points_filter(points_db: Points, all_points: list[str], points_
                     filter_str = filter_str[:-1]
                     scroll = 0
                     needs_redraw = True
-            elif ch == "\r":  # Enter — reload points from database
-                if not points_path.exists():
-                    refresh_error = "Database file deleted"
-                    all_points = []
-                    all_points_sorted = []
-                    filtered = []
-                    scroll = 0
-                    needs_redraw = True
-                else:
-                    try:
-                        all_points = points_db.list()
-                        refresh_error = None
-                        all_points_sorted = sorted(all_points)
-                        filtered = [p for p in all_points_sorted if filter_str == "" or filter_str.lower() in p.lower()]
-                        scroll = 0
-                        needs_redraw = True
-                    except Exception as e:
-                        refresh_error = str(e)
-                        needs_redraw = True
             elif ch.isprintable():
                 filter_str += ch
                 scroll = 0