urkit 0.3.10__tar.gz → 0.3.12__tar.gz

{urkit-0.3.10 → urkit-0.3.12}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.10
+Version: 0.3.12
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT

{urkit-0.3.10 → urkit-0.3.12}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.10"
+version = "0.3.12"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.3.10 → urkit-0.3.12}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.10"
+__version__ = "0.3.12"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.10 → urkit-0.3.12}/src/urkit/cli/teach.py

@@ -1445,7 +1445,7 @@ def teach_command(args) -> None:
             print("  Gripper activated.", flush=True)
     except ConnectionError as e:
         print(f"Connection error: {e}")
-        if "RTDE" in str(e):
+        if "RTDE" in str(e) and "registers are locked" not in str(e):
             print(
                 "\n  The robot is reachable but RTDE could not connect.\n"
                 "  This usually means Remote Control is not enabled.\n"

{urkit-0.3.10 → urkit-0.3.12}/src/urkit/robot.py

@@ -9,7 +9,7 @@ from __future__ import annotations
 import logging
 import sys
 import time
-from typing import TYPE_CHECKING, Union
+from typing import TYPE_CHECKING, Optional, Union
 from pathlib import Path
 
 if TYPE_CHECKING:
@@ -176,21 +176,22 @@ class URRobot:
             time.sleep(5)
 
         # Stop any running program — RTDE cannot upload its control script
-        # while a program is occupying the Secondary Interface. Only needed
-        # after a boot (a program left running by another client is their problem).
-        if boot_needed:
-            try:
-                self._stop_program()
-                time.sleep(2)
-            except ConnectionError:
-                logger.warning(
-                    "[URRobot] Could not stop program via Dashboard. "
-                    "Continuing — RTDE connection may fail if a program is running."
-                )
+        # while a program occupies the Secondary Interface. Always try, since
+        # a previous session may have left ExternalControl running.
+        try:
+            self._stop_program()
+            time.sleep(2)
+        except ConnectionError:
+            logger.warning(
+                "[URRobot] Could not stop program via Dashboard. "
+                "Continuing — RTDE connection may fail if a program is running."
+            )
+
+        # Connect RTDE — retry, the Secondary Interface may need time to
+        # release registers after program stop or boot.
+        from urkit.exceptions import RtdeRegisterConflictError
 
-        # Connect RTDE — retry after boot, the Secondary Interface may need
-        # extra time to accept connections even after the robot is IDLE.
-        rtde_attempts = 2 if boot_needed else 1
+        rtde_attempts = 2
         for attempt in range(1, rtde_attempts + 1):
             try:
                 self._rtde_c, self._rtde_r, self._rtde_io = _connect_rtde(
@@ -198,6 +199,22 @@ class URRobot:
                     frequency=self._rtde_frequency,
                 )
                 break
+            except RtdeRegisterConflictError as e:
+                if attempt < rtde_attempts:
+                    logger.warning(
+                        "[URRobot] RTDE registers in use (attempt %d/%d). "
+                        "Retrying in 5s...",
+                        attempt,
+                        rtde_attempts,
+                    )
+                    time.sleep(5)
+                else:
+                    raise ConnectionError(
+                        f"RTDE registers are locked on robot at {ip}. "
+                        "A previous session crashed without releasing its connection.\n"
+                        "Fix: fully shut down the robot controller "
+                        "(Settings → System → Shutdown), wait 10s, power on."
+                    ) from e
             except Exception as e:
                 if attempt < rtde_attempts:
                     logger.warning(
@@ -1474,17 +1491,23 @@ class URRobot:
     # Point management
     # ------------------------------------------------------------------
 
-    def save_point(self, name: str) -> Point:
-        """Save the current robot position as a named point.
+    def save_point(self, name: str, pose: Optional[list[float]] = None) -> Point:
+        """Save a named point.
+
+        When *pose* is omitted, saves the current TCP pose from
+        getActualTCPPose(). When *pose* is provided, saves that
+        arbitrary pose directly without moving the robot.
 
-        Stores the TCP pose from getActualTCPPose(). The UR controller
-        interprets the stored pose in whatever TCP frame is active at
-        playback time, making points tool-agnostic by design.
+        The UR controller interprets the stored pose in whatever TCP
+        frame is active at playback time, making points tool-agnostic
+        by design.
 
         Overwrites if a point with the same name already exists.
 
         Args:
             name: Name for the saved point.
+            pose: TCP pose [x, y, z, rx, ry, rz]. Defaults to current
+                robot position.
 
         Returns:
             The saved Point object.
@@ -1493,7 +1516,8 @@ class URRobot:
             PointError: If points database is not set or saving fails.
         """
         points = self._require_points()
-        pose = self._telemetry.get_tcp_pose()
+        if pose is None:
+            pose = self._telemetry.get_tcp_pose()
         point = Point(name=name, pose=pose)
         points.save(point)
         logger.info("Saved point '%s'", name)

{urkit-0.3.10 → urkit-0.3.12}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.10
+Version: 0.3.12
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT