urkit 0.3.3__tar.gz → 0.3.5__tar.gz

{urkit-0.3.3 → urkit-0.3.5}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.3
+Version: 0.3.5
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -69,9 +69,9 @@ Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 ### Robot Setup (one-time)
 
 1. **Network**: `☰` → `System` → `System` → `Network`. Set a static IP on the robot and a matching one on your PC. Both addresses must share the same first three octets (the network), with a different last octet (the host). For example:
-   - **Robot**: `172.31.1.42` / Subnet `255.255.255.0`
-   - **PC**: `172.31.1.1` / Netmask `255.255.255.0`
-   - Verify with `ping 172.31.1.42`. Connect via direct Ethernet cable or a switch.
+   - **Robot**: `192.168.1.50` / Subnet `255.255.255.0`
+   - **PC**: `192.168.1.1` / Netmask `255.255.255.0`
+   - Verify with `ping 192.168.1.50`. Connect via direct Ethernet cable or a switch.
 2. **Remote Control**: `☰` → `System` → `Remote Control`: Enable. Press the remote/local button on the pendant.
 3. **Security**: `☰` → `Security` → `Services`: enable RTDE and disable EtherNet/IP, PROFINET, or MODBUS if they're claiming RTDE registers. Save and restart.
 
@@ -84,7 +84,7 @@ If you have a Robotiq gripper, install the **Robotiq Gripper Control** URCap fir
 ```python
 from urkit import URRobot, ROBOTIQ_HAND_E  # or ROBOTIQ_2F_85, ROBOTIQ_2F_140, or gripper=None
 
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 robot.gripper.activate()
 
 robot.move_to("home")
@@ -111,7 +111,7 @@ URKit provides two CLI tools: **teach** for interactive robot control, and **poi
 The interactive teach pendant for moving the robot, saving points, and checking telemetry:
 
 ```bash
-urkit teach 172.31.1.42              # with robot IP
+urkit teach 192.168.1.50             # with robot IP
 urkit teach                          # reads IP from config.yaml
 ```
 
@@ -192,7 +192,7 @@ All movement and orientation keys support **hold-to-repeat**.
         <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>
+        <tr><td colspan="3">Gripper line shows: `Connected 25.0mm (50%) F=100 S=100`</td></tr>
       </table>
     </td>
     <td align="center" style="width:33%">
@@ -257,7 +257,7 @@ Delta movements (W/S/A/D/Q/E) use step-size-based velocities that scale with the
 To disable the slow default and use full speed, pass `--expert` or set `expert_mode: true` in your config:
 
 ```bash
-urkit teach 172.31.1.42 --expert
+urkit teach 192.168.1.50 --expert
 ```
 
 ```yaml
@@ -274,14 +274,14 @@ expert_mode: true
 ```python
 from urkit import URRobot, ROBOTIQ_HAND_E
 
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 ```
 
 With custom motion defaults:
 
 ```python
 robot = URRobot(
-    ip="172.31.1.42",
+    ip="192.168.1.50",
     points="points.db",
     gripper=ROBOTIQ_HAND_E,
     default_vel=0.5,    # m/s
@@ -313,7 +313,8 @@ robot.gripper.is_activated()          # check activation state
 robot.gripper.open()                  # fully open (blocking by default)
 robot.gripper.close()                 # fully closed, stops on contact
 robot.gripper.open(wait=False)        # non-blocking return
-robot.gripper.set_position(20)        # 20mm open (Robotiq only, 0 = closed)
+robot.gripper.set_position_mm(20)     # 20mm open (Robotiq only, 0 = closed)
+robot.gripper.set_position_percent(50) # 50% open (Robotiq only, 0 = open, 100 = closed)
 robot.gripper.set_force(50)           # grip force: 0-100 (Robotiq only)
 robot.gripper.set_speed(80)           # movement speed: 0-100 (Robotiq only)
 ```
@@ -321,7 +322,7 @@ robot.gripper.set_speed(80)           # movement speed: 0-100 (Robotiq only)
 Override preset values for custom fingers:
 
 ```python
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E, max_mm=120)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E, max_mm=120)
 ```
 
 #### Digital I/O Grippers
@@ -332,7 +333,7 @@ Robotiq grippers use a serial protocol over the robot's RS485 port. If you have
 from urkit import URRobot, DigitalGripperConfig
 
 robot = URRobot(
-    ip="172.31.1.42",
+    ip="192.168.1.50",
     points="points.db",
     gripper=DigitalGripperConfig(pin=3),  # pin 3 goes high = close
 )
@@ -348,7 +349,7 @@ robot.gripper.close()   # turn pin 3 on
 The points database is optional. Create a robot without one and attach later:
 
 ```python
-robot = URRobot(ip="172.31.1.42")
+robot = URRobot(ip="192.168.1.50")
 robot.points_db = "points.db"
 ```
 
@@ -552,7 +553,7 @@ URKit searches for `config.yaml` in this order:
 
 | Key | Description | Example |
 |-----|-------------|---------|
-| `robot_ip` | Robot IP address | `172.31.1.42` |
+| `robot_ip` | Robot IP address | `192.168.1.50` |
 | `points_path` | Path to SQLite points database | `points.db` |
 | `gripper` | Gripper preset name | `hand-e`, `2f-85`, `2f-140`, `digital` |
 | `default_vel` | Default linear velocity (m/s) | `0.5` |
@@ -577,7 +578,7 @@ gripper_config:
 
 ### CLI Override Precedence
 
-1. **CLI flags.** `urkit teach 172.31.1.42 --gripper none`
+1. **CLI flags.** `urkit teach 192.168.1.50 --gripper none`
 2. **Config file.** Values from `config.yaml`
 3. **Built-in defaults.** `points.db`, no gripper, 0.5 m/s velocity
 
@@ -586,7 +587,7 @@ gripper_config:
 The CLI **never** modifies your config file automatically. Press **Y** inside the teach pendant to save. This way you only save settings you've actually tested.
 
 ```bash
-urkit teach 172.31.1.42 --gripper hand-e  # test, then press Y
+urkit teach 192.168.1.50 --gripper hand-e  # test, then press Y
 urkit teach                               # next time: reads from config
 ```
 
@@ -605,7 +606,7 @@ from urkit import load_config, resolve_config
 config = load_config()                          # auto-resolve
 config = load_config("/path/to/my.yaml")        # explicit path
 path = resolve_config()                         # returns Path or None
-robot = URRobot.from_config({"robot_ip": "172.31.1.42", "gripper": "2f-85"})
+robot = URRobot.from_config({"robot_ip": "192.168.1.50", "gripper": "2f-85"})
 ```
 
 ---
@@ -639,7 +640,7 @@ robot.reconnect_rtde()      # reconnect after a drop
 from urkit import URKitError, MotionError, PointError
 
 try:
-    robot = URRobot(ip="172.31.1.42", points="points.db")
+    robot = URRobot(ip="192.168.1.50", points="points.db")
 except RobotNotInRemoteModeError:
     print("Enable remote control on the teach pendant!")
 except RtdeRegisterConflictError:

{urkit-0.3.3 → urkit-0.3.5}/README.md

@@ -43,9 +43,9 @@ Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 ### Robot Setup (one-time)
 
 1. **Network**: `☰` → `System` → `System` → `Network`. Set a static IP on the robot and a matching one on your PC. Both addresses must share the same first three octets (the network), with a different last octet (the host). For example:
-   - **Robot**: `172.31.1.42` / Subnet `255.255.255.0`
-   - **PC**: `172.31.1.1` / Netmask `255.255.255.0`
-   - Verify with `ping 172.31.1.42`. Connect via direct Ethernet cable or a switch.
+   - **Robot**: `192.168.1.50` / Subnet `255.255.255.0`
+   - **PC**: `192.168.1.1` / Netmask `255.255.255.0`
+   - Verify with `ping 192.168.1.50`. Connect via direct Ethernet cable or a switch.
 2. **Remote Control**: `☰` → `System` → `Remote Control`: Enable. Press the remote/local button on the pendant.
 3. **Security**: `☰` → `Security` → `Services`: enable RTDE and disable EtherNet/IP, PROFINET, or MODBUS if they're claiming RTDE registers. Save and restart.
 
@@ -58,7 +58,7 @@ If you have a Robotiq gripper, install the **Robotiq Gripper Control** URCap fir
 ```python
 from urkit import URRobot, ROBOTIQ_HAND_E  # or ROBOTIQ_2F_85, ROBOTIQ_2F_140, or gripper=None
 
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 robot.gripper.activate()
 
 robot.move_to("home")
@@ -85,7 +85,7 @@ URKit provides two CLI tools: **teach** for interactive robot control, and **poi
 The interactive teach pendant for moving the robot, saving points, and checking telemetry:
 
 ```bash
-urkit teach 172.31.1.42              # with robot IP
+urkit teach 192.168.1.50             # with robot IP
 urkit teach                          # reads IP from config.yaml
 ```
 
@@ -166,7 +166,7 @@ All movement and orientation keys support **hold-to-repeat**.
         <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>
+        <tr><td colspan="3">Gripper line shows: `Connected 25.0mm (50%) F=100 S=100`</td></tr>
       </table>
     </td>
     <td align="center" style="width:33%">
@@ -231,7 +231,7 @@ Delta movements (W/S/A/D/Q/E) use step-size-based velocities that scale with the
 To disable the slow default and use full speed, pass `--expert` or set `expert_mode: true` in your config:
 
 ```bash
-urkit teach 172.31.1.42 --expert
+urkit teach 192.168.1.50 --expert
 ```
 
 ```yaml
@@ -248,14 +248,14 @@ expert_mode: true
 ```python
 from urkit import URRobot, ROBOTIQ_HAND_E
 
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 ```
 
 With custom motion defaults:
 
 ```python
 robot = URRobot(
-    ip="172.31.1.42",
+    ip="192.168.1.50",
     points="points.db",
     gripper=ROBOTIQ_HAND_E,
     default_vel=0.5,    # m/s
@@ -287,7 +287,8 @@ robot.gripper.is_activated()          # check activation state
 robot.gripper.open()                  # fully open (blocking by default)
 robot.gripper.close()                 # fully closed, stops on contact
 robot.gripper.open(wait=False)        # non-blocking return
-robot.gripper.set_position(20)        # 20mm open (Robotiq only, 0 = closed)
+robot.gripper.set_position_mm(20)     # 20mm open (Robotiq only, 0 = closed)
+robot.gripper.set_position_percent(50) # 50% open (Robotiq only, 0 = open, 100 = closed)
 robot.gripper.set_force(50)           # grip force: 0-100 (Robotiq only)
 robot.gripper.set_speed(80)           # movement speed: 0-100 (Robotiq only)
 ```
@@ -295,7 +296,7 @@ robot.gripper.set_speed(80)           # movement speed: 0-100 (Robotiq only)
 Override preset values for custom fingers:
 
 ```python
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E, max_mm=120)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E, max_mm=120)
 ```
 
 #### Digital I/O Grippers
@@ -306,7 +307,7 @@ Robotiq grippers use a serial protocol over the robot's RS485 port. If you have
 from urkit import URRobot, DigitalGripperConfig
 
 robot = URRobot(
-    ip="172.31.1.42",
+    ip="192.168.1.50",
     points="points.db",
     gripper=DigitalGripperConfig(pin=3),  # pin 3 goes high = close
 )
@@ -322,7 +323,7 @@ robot.gripper.close()   # turn pin 3 on
 The points database is optional. Create a robot without one and attach later:
 
 ```python
-robot = URRobot(ip="172.31.1.42")
+robot = URRobot(ip="192.168.1.50")
 robot.points_db = "points.db"
 ```
 
@@ -526,7 +527,7 @@ URKit searches for `config.yaml` in this order:
 
 | Key | Description | Example |
 |-----|-------------|---------|
-| `robot_ip` | Robot IP address | `172.31.1.42` |
+| `robot_ip` | Robot IP address | `192.168.1.50` |
 | `points_path` | Path to SQLite points database | `points.db` |
 | `gripper` | Gripper preset name | `hand-e`, `2f-85`, `2f-140`, `digital` |
 | `default_vel` | Default linear velocity (m/s) | `0.5` |
@@ -551,7 +552,7 @@ gripper_config:
 
 ### CLI Override Precedence
 
-1. **CLI flags.** `urkit teach 172.31.1.42 --gripper none`
+1. **CLI flags.** `urkit teach 192.168.1.50 --gripper none`
 2. **Config file.** Values from `config.yaml`
 3. **Built-in defaults.** `points.db`, no gripper, 0.5 m/s velocity
 
@@ -560,7 +561,7 @@ gripper_config:
 The CLI **never** modifies your config file automatically. Press **Y** inside the teach pendant to save. This way you only save settings you've actually tested.
 
 ```bash
-urkit teach 172.31.1.42 --gripper hand-e  # test, then press Y
+urkit teach 192.168.1.50 --gripper hand-e  # test, then press Y
 urkit teach                               # next time: reads from config
 ```
 
@@ -579,7 +580,7 @@ from urkit import load_config, resolve_config
 config = load_config()                          # auto-resolve
 config = load_config("/path/to/my.yaml")        # explicit path
 path = resolve_config()                         # returns Path or None
-robot = URRobot.from_config({"robot_ip": "172.31.1.42", "gripper": "2f-85"})
+robot = URRobot.from_config({"robot_ip": "192.168.1.50", "gripper": "2f-85"})
 ```
 
 ---
@@ -613,7 +614,7 @@ robot.reconnect_rtde()      # reconnect after a drop
 from urkit import URKitError, MotionError, PointError
 
 try:
-    robot = URRobot(ip="172.31.1.42", points="points.db")
+    robot = URRobot(ip="192.168.1.50", points="points.db")
 except RobotNotInRemoteModeError:
     print("Enable remote control on the teach pendant!")
 except RtdeRegisterConflictError:

{urkit-0.3.3 → urkit-0.3.5}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.3"
+version = "0.3.5"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/__init__.py

@@ -10,7 +10,7 @@ Quick start::
     from urkit import URRobot, ROBOTIQ_HAND_E
 
     robot = URRobot(
-        ip="172.31.1.42",
+        ip="192.168.1.50",
         points="points.db",
         gripper=ROBOTIQ_HAND_E,
     )
@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.3"
+__version__ = "0.3.5"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/__main__.py

@@ -1,8 +1,8 @@
 """urkit CLI entry point.
 
 Usage:
-    urkit teach 172.31.1.42
-    urkit teach 172.31.1.42 --gripper=hand-e
+    urkit teach 192.168.1.50
+    urkit teach 192.168.1.50 --gripper=hand-e
     urkit points list
     urkit points list --filter "pick*"
 """
@@ -41,8 +41,8 @@ def main() -> None:
         "--gripper",
         type=str,
         default=None,
-        choices=["2f-85", "2f-140", "hand-e", "digital", "none"],
-        help="Gripper preset (overrides config file). Use 'none' to disable gripper",
+        help="Gripper preset (overrides config file). Use 'none' to disable gripper. "
+             "Accepts: 2f-85, 2f-140, hand-e, digital, none (case-insensitive, _ or -)",
     )
     teach_parser.add_argument(
         "--gripper-pin",

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/cli/teach.py

@@ -4,9 +4,9 @@ A single terminal-based UI for manual robot control, point management,
 and freedrive — matching the pattern from robot_mover's point_saver.cpp.
 
 Usage:
-    urkit 172.31.1.42                  # connect with IP
+    urkit 192.168.1.50                  # connect with IP
     urkit                                # reads robot_ip from config
-    urkit -v 172.31.1.42               # verbose (debug boot commands)
+    urkit -v 192.168.1.50               # verbose (debug boot commands)
 """
 
 from __future__ import annotations
@@ -351,7 +351,7 @@ def _draw_screen(
         if payload == 0:
             tcp_label = f"{dim('0.0kg (no payload)')}"
         else:
-            tcp_label = green(f"{payload:.1f}kg")
+            tcp_label = green(f"{payload:.3f}kg")
         lines.append(f" {blue('Payload:'.ljust(lw))} {tcp_label}")
     except Exception:
         pass
@@ -1229,13 +1229,12 @@ def _teach_pendant(
 
                 elif key == "v":
                     if robot.gripper:
-                        max_mm = getattr(robot.gripper, '_max_mm', None)
-                        prompt = f"  Gripper position (0-{max_mm} mm): " if max_mm is not None else "  Gripper position (mm): "
+                        prompt = "  Gripper position (0-100%): "
                         val = _read_input(prompt)
                         try:
-                            mm = float(val)  # type: ignore
-                            robot.gripper.set_position(mm)  # type: ignore
-                            messages.append(f"Gripper set to {mm:.1f} mm")
+                            percent = float(val)  # type: ignore
+                            robot.gripper.set_position_percent(int(percent))  # type: ignore
+                            messages.append(f"Gripper set to {int(percent)}%")
                         except (ValueError, TypeError):
                             messages.append("Invalid position value")
                         except Exception as e:
@@ -1369,6 +1368,9 @@ def teach_command(args) -> None:
     # "none" is an explicit CLI override — don't fall through to config
     if gripper_name and gripper_name.lower() == "none":  # type: ignore
         gripper_name = None
+    # Normalize: lowercase, replace _ with - (e.g. "2F_140" → "2f-140")
+    if gripper_name and isinstance(gripper_name, str):
+        gripper_name = gripper_name.lower().replace("_", "-")
     points_path = args.points or config.get("points_path") or "points.db"
 
     # Resolve gripper constructor params from config.yaml gripper_config section
@@ -1406,7 +1408,7 @@ def teach_command(args) -> None:
 
     if not ip:
         print("Error: No robot IP specified.")
-        print("  Usage: urkit 172.31.1.42")
+        print("  Usage: urkit 192.168.1.50")
         print("  Or:    urkit (uses last-used IP from config)")
         print(f"  Config: {_resolve_default_config_path()}")
         sys.exit(1)
@@ -1414,7 +1416,7 @@ def teach_command(args) -> None:
     # Validate IP format before any connection attempt
     if not _validate_ip(ip):  # type: ignore
         print(f"Error: \"{ip}\" is not a valid IPv4 address.")
-        print("  Usage: urkit 172.31.1.42")
+        print("  Usage: urkit 192.168.1.50")
         sys.exit(1)
 
     # Quick ping check to verify reachability

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/gripper/__init__.py

@@ -7,10 +7,10 @@ Usage::
     from urkit import URRobot, ROBOTIQ_2F_85, DigitalGripperConfig
 
     # Robotiq preset — one arg does everything
-    robot = URRobot(ip="172.31.1.42", gripper=ROBOTIQ_2F_85)
+    robot = URRobot(ip="192.168.1.50", gripper=ROBOTIQ_2F_85)
 
     # Digital I/O gripper
-    robot = URRobot(ip="172.31.1.42", gripper=DigitalGripperConfig(pin=3))
+    robot = URRobot(ip="192.168.1.50", gripper=DigitalGripperConfig(pin=3))
 """
 
 from urkit.gripper.base import Gripper

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/gripper/base.py

@@ -1,7 +1,7 @@
 """Abstract gripper plugin interface.
 
 All gripper backends must implement this interface so that
-``robot.gripper.open()``, ``close()``, and ``set_position()`` work
+``robot.gripper.open()``, ``close()``, ``set_position_mm()``, and ``set_position_percent()`` work
 uniformly regardless of the underlying hardware.
 """
 
@@ -13,7 +13,7 @@ from abc import ABC, abstractmethod
 class Gripper(ABC):
     """Abstract base class for gripper backends.
 
-    Subclasses must implement ``open()``, ``close()``, and ``set_position()``.
+    Subclasses must implement ``open()``, ``close()``, ``set_position_mm()``, and ``set_position_percent()``.
     The ``activate()`` method is a no-op by default and should be overridden
     by backends that require explicit activation (e.g., Robotiq). The factory
     method ``Gripper.create()`` returns the appropriate backend.
@@ -36,15 +36,15 @@ class Gripper(ABC):
         """
 
     @abstractmethod
-    def set_position(self, position: int) -> None:
-        """Set the gripper to a specific position.
+    def set_position_mm(self, mm: float) -> None:
+        """Set the gripper to a specific position in millimeters.
 
-        For Robotiq 2F grippers, position is 0-100 (0 = fully open,
-        100 = fully closed). Digital grippers don't support this and
-        raise GripperError.
+        For Robotiq 2F grippers, mm is 0 (fully closed) to max_mm
+        (fully open). Digital grippers don't support this and raise
+        GripperError.
 
         Args:
-            position: Gripper position.
+            mm: Opening in millimeters.
 
         Raises:
             GripperError: If the operation fails.
@@ -77,6 +77,21 @@ class Gripper(ABC):
         sockets or release resources (e.g., Robotiq grippers).
         """
 
+    def set_position_percent(self, percent: int, *, wait: bool = True) -> None:
+        """Set the gripper to a specific percentage opening.
+
+        0 = fully open, 100 = fully closed.
+
+        Args:
+            percent: Percentage opening (0-100).
+            wait: If True, block until the gripper reaches the target
+                position (default True).
+
+        Raises:
+            GripperError: If percent is out of range or the operation
+                fails.
+        """
+
     def get_position_mm(self) -> float | None:
         """Return the last commanded position in mm, or None if unknown.
 

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/gripper/digital.py

@@ -98,14 +98,25 @@ class DigitalGripper(Gripper):
             "ON" if self._closed_when_high else "OFF",
         )
 
-    def set_position(self, position: int) -> None:
+    def set_position_mm(self, mm: float) -> None:
         """Set the gripper position.
 
         Raises:
             GripperError: Always — digital grippers don't support position control.
         """
         raise GripperError(
-            "Digital grippers do not support set_position. "
+            "Digital grippers do not support set_position_mm. "
+            "Use open() or close() instead."
+        )
+
+    def set_position_percent(self, percent: int, *, wait: bool = True) -> None:
+        """Set the gripper position as a percentage.
+
+        Raises:
+            GripperError: Always — digital grippers don't support position control.
+        """
+        raise GripperError(
+            "Digital grippers do not support set_position_percent. "
             "Use open() or close() instead."
         )
 

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/gripper/presets.py

@@ -10,12 +10,12 @@ Usage::
     from urkit.gripper.presets import ROBOTIQ_2F_85
 
     # One arg — specs + backend
-    robot = URRobot(ip="172.31.1.42", gripper=ROBOTIQ_2F_85)
+    robot = URRobot(ip="192.168.1.50", gripper=ROBOTIQ_2F_85)
 
     # Digital I/O gripper
     from urkit.gripper.presets import DigitalGripperConfig
 
-    robot = URRobot(ip="172.31.1.42", gripper=DigitalGripperConfig(pin=3))
+    robot = URRobot(ip="192.168.1.50", gripper=DigitalGripperConfig(pin=3))
 """
 
 from __future__ import annotations
@@ -33,7 +33,7 @@ class GripperPreset:
         center_of_gravity: Center of gravity in tool coordinates [x, y, z], meters.
         tcp_offset: TCP offset [x, y, z, rx, ry, rz], meters/radians.
         backend: Gripper backend name (e.g. ``"robotiq"``).
-        max_mm: Maximum finger travel in mm (for ``set_position()``).
+        max_mm: Maximum finger travel in mm (for ``set_position_mm()``).
         force: Gripper force 0-100 (default 100).
         speed: Gripper speed 0-100 (default 100).
     """

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/gripper/robotiq.py

@@ -94,7 +94,7 @@ class RobotiqGripper(Gripper):
         if not self._activated:
             raise GripperError(
                 "Gripper is not activated. Call activate() before "
-                "using open(), close(), or set_position()."
+                "using open(), close(), or set_position_mm()."
             )
 
     def _build_script(self, function_call: str) -> str:
@@ -259,7 +259,7 @@ class RobotiqGripper(Gripper):
         self._last_position_mm = 0.0
         logger.debug("Robotiq gripper closed (wait=%s)", wait)
 
-    def set_position(self, mm: float, *, wait: bool = True) -> None:
+    def set_position_mm(self, mm: float, *, wait: bool = True) -> None:
         """Set the gripper to a specific opening in millimeters.
 
         Args:
@@ -285,6 +285,41 @@ class RobotiqGripper(Gripper):
         self._last_position_mm = mm
         logger.debug("Robotiq gripper set to %.1f mm (wait=%s)", mm, wait)
 
+    def set_position_percent(self, percent: int, *, wait: bool = True) -> None:
+        """Set the gripper to a specific percentage opening.
+
+        0 = fully open, 100 = fully closed. Delegates to the preamble's
+        normalized functions (``rq_move_norm`` / ``rq_move_and_wait_norm``)
+        which handle the 0-100 → 0-255 gripper protocol conversion.
+
+        Args:
+            percent: Percentage opening (0-100).
+            wait: If True, block until the gripper reaches the target
+                position (default True).
+
+        Raises:
+            GripperError: If percent is out of range or the gripper
+                has not been activated.
+        """
+        if not 0 <= percent <= 100:
+            raise GripperError(
+                f"Robotiq gripper percent must be 0-100, got {percent}."
+            )
+        self._require_activated()
+        func = (
+            f"rq_move_and_wait_norm({percent})"
+            if wait
+            else f"rq_move_norm({percent})"
+        )
+        self._send_script(self._build_script(func))
+        # Track last position in mm for consistency with get_position_mm()
+        mm = self._max_mm * (1 - percent / 100.0)
+        self._last_position_mm = mm
+        logger.debug(
+            "Robotiq gripper set to %d%% (%.1f mm) (wait=%s)",
+            percent, mm, wait,
+        )
+
     def set_force(self, force: int) -> None:
         """Set gripper force for subsequent movements.
 

{urkit-0.3.3 → urkit-0.3.5}/src/urkit/robot.py

@@ -87,7 +87,7 @@ class URRobot:
 
     Example:
         >>> from urkit import URRobot, ROBOTIQ_2F_85
-        >>> robot = URRobot(ip="172.31.1.42", gripper=ROBOTIQ_2F_85)
+        >>> robot = URRobot(ip="192.168.1.50", gripper=ROBOTIQ_2F_85)
         >>> robot.move_relative([0.01, 0, 0, 0, 0, 0])  # works without points
         >>> robot.points_db = "points.db"  # set lazily
         >>> robot.save_point("home")
@@ -118,6 +118,7 @@ class URRobot:
         resolved_cog: list[float] = [0.0, 0.0, 0.0]
         resolved_tcp: list[float] | None = None
         gripper_backend: str | None = None
+        self._payload: float = 0.0
         if isinstance(gripper, GripperPreset):
             resolved_payload = gripper.mass
             resolved_cog = list(gripper.center_of_gravity)
@@ -246,6 +247,10 @@ class URRobot:
             self.set_tcp_offset(resolved_tcp)
         if resolved_payload > 0:
             self.set_payload(resolved_payload, resolved_cog)
+        else:
+            # No payload configured — explicitly zero it on the robot
+            # to clear any stale value from a previous session.
+            self.set_payload(0.0)
 
         logger.info("URRobot initialized at %s", ip)
 
@@ -322,7 +327,7 @@ class URRobot:
 
         Config file keys::
 
-            robot_ip: 172.31.1.42
+            robot_ip: 192.168.1.50
             points_path: points.db
             gripper: hand-e
             gripper_config:
@@ -335,7 +340,7 @@ class URRobot:
         Example:
             >>> robot = URRobot.from_config("config.yaml")
             >>> robot = URRobot.from_config("config.yaml", ip="10.0.0.50")
-            >>> robot = URRobot.from_config({"robot_ip": "172.31.1.42", "points_path": "points.db", "gripper": "2f-85"})
+            >>> robot = URRobot.from_config({"robot_ip": "192.168.1.50", "points_path": "points.db", "gripper": "2f-85"})
         """
         from urkit.config import resolve_config
 
@@ -740,9 +745,25 @@ class URRobot:
         cog = center_of_gravity if center_of_gravity is not None else [0.0, 0.0, 0.0]
         if len(cog) != 3:
             raise MotionError(f"Center of gravity must have 3 values, got {len(cog)}.")
+        # Try newer setTargetPayload first (PolyScope 5.11.0+), fall back to setPayload
         try:
-            self._rtde_c.setPayload(mass, cog)
-            logger.info("Payload set to %.2f kg, CoG=%s", mass, cog)
+            inertia = [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
+            self._rtde_c.setTargetPayload(mass, cog, inertia)
+            self._payload = mass
+            logger.info("Payload set to %.2f kg, CoG=%s (setTargetPayload)", mass, cog)
+        except AttributeError:
+            # setTargetPayload not available — older PolyScope
+            try:
+                self._rtde_c.setPayload(mass, cog)
+                self._payload = mass
+                logger.warning(
+                    "Payload set to %.2f kg, CoG=%s (setPayload fallback — "
+                    "setTargetPayload unavailable, likely PolyScope < 5.11.0)",
+                    mass,
+                    cog,
+                )
+            except Exception as e2:
+                raise MotionError(f"Failed to set payload: {e2}")
         except Exception as e:
             raise MotionError(f"Failed to set payload: {e}")
 
@@ -894,6 +915,8 @@ class URRobot:
 
         try:
             if linear:
+                if not self._rtde_c.getInverseKinematicsHasSolution(pose):
+                    raise MotionError(f"Pose unreachable: {pose}")
                 self._motion.movel(pose, vel=vel, acc=acc, asynchronous=asynchronous)
             else:
                 joints = self.inverse_kinematics(pose)
@@ -1262,7 +1285,22 @@ class URRobot:
 
     def get_payload(self) -> float:
         """Get the currently configured payload mass (kg)."""
-        return self._telemetry.get_payload()
+        return self._payload
+
+    def get_polyscope_version(self) -> str | None:
+        """Get the PolyScope version string via Dashboard (e.g. '5.25.0').
+
+        Returns:
+            Version string, or None if Dashboard is unavailable.
+        """
+        try:
+            if self._dashboard is None:
+                self._connect_dashboard()
+            if self._dashboard is None:
+                return None
+            return _dashboard_command(self._dashboard, "version")  # type: ignore
+        except Exception:
+            return None
 
     def is_protective_stopped(self) -> bool:
         """Check if the robot is in protective stop."""

{urkit-0.3.3 → urkit-0.3.5}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.3
+Version: 0.3.5
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -69,9 +69,9 @@ Requires Python 3.8+ and a Universal Robots e-Series (UR3e to UR30).
 ### Robot Setup (one-time)
 
 1. **Network**: `☰` → `System` → `System` → `Network`. Set a static IP on the robot and a matching one on your PC. Both addresses must share the same first three octets (the network), with a different last octet (the host). For example:
-   - **Robot**: `172.31.1.42` / Subnet `255.255.255.0`
-   - **PC**: `172.31.1.1` / Netmask `255.255.255.0`
-   - Verify with `ping 172.31.1.42`. Connect via direct Ethernet cable or a switch.
+   - **Robot**: `192.168.1.50` / Subnet `255.255.255.0`
+   - **PC**: `192.168.1.1` / Netmask `255.255.255.0`
+   - Verify with `ping 192.168.1.50`. Connect via direct Ethernet cable or a switch.
 2. **Remote Control**: `☰` → `System` → `Remote Control`: Enable. Press the remote/local button on the pendant.
 3. **Security**: `☰` → `Security` → `Services`: enable RTDE and disable EtherNet/IP, PROFINET, or MODBUS if they're claiming RTDE registers. Save and restart.
 
@@ -84,7 +84,7 @@ If you have a Robotiq gripper, install the **Robotiq Gripper Control** URCap fir
 ```python
 from urkit import URRobot, ROBOTIQ_HAND_E  # or ROBOTIQ_2F_85, ROBOTIQ_2F_140, or gripper=None
 
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 robot.gripper.activate()
 
 robot.move_to("home")
@@ -111,7 +111,7 @@ URKit provides two CLI tools: **teach** for interactive robot control, and **poi
 The interactive teach pendant for moving the robot, saving points, and checking telemetry:
 
 ```bash
-urkit teach 172.31.1.42              # with robot IP
+urkit teach 192.168.1.50             # with robot IP
 urkit teach                          # reads IP from config.yaml
 ```
 
@@ -192,7 +192,7 @@ All movement and orientation keys support **hold-to-repeat**.
         <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>
+        <tr><td colspan="3">Gripper line shows: `Connected 25.0mm (50%) F=100 S=100`</td></tr>
       </table>
     </td>
     <td align="center" style="width:33%">
@@ -257,7 +257,7 @@ Delta movements (W/S/A/D/Q/E) use step-size-based velocities that scale with the
 To disable the slow default and use full speed, pass `--expert` or set `expert_mode: true` in your config:
 
 ```bash
-urkit teach 172.31.1.42 --expert
+urkit teach 192.168.1.50 --expert
 ```
 
 ```yaml
@@ -274,14 +274,14 @@ expert_mode: true
 ```python
 from urkit import URRobot, ROBOTIQ_HAND_E
 
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 ```
 
 With custom motion defaults:
 
 ```python
 robot = URRobot(
-    ip="172.31.1.42",
+    ip="192.168.1.50",
     points="points.db",
     gripper=ROBOTIQ_HAND_E,
     default_vel=0.5,    # m/s
@@ -313,7 +313,8 @@ robot.gripper.is_activated()          # check activation state
 robot.gripper.open()                  # fully open (blocking by default)
 robot.gripper.close()                 # fully closed, stops on contact
 robot.gripper.open(wait=False)        # non-blocking return
-robot.gripper.set_position(20)        # 20mm open (Robotiq only, 0 = closed)
+robot.gripper.set_position_mm(20)     # 20mm open (Robotiq only, 0 = closed)
+robot.gripper.set_position_percent(50) # 50% open (Robotiq only, 0 = open, 100 = closed)
 robot.gripper.set_force(50)           # grip force: 0-100 (Robotiq only)
 robot.gripper.set_speed(80)           # movement speed: 0-100 (Robotiq only)
 ```
@@ -321,7 +322,7 @@ robot.gripper.set_speed(80)           # movement speed: 0-100 (Robotiq only)
 Override preset values for custom fingers:
 
 ```python
-robot = URRobot(ip="172.31.1.42", points="points.db", gripper=ROBOTIQ_HAND_E, max_mm=120)
+robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E, max_mm=120)
 ```
 
 #### Digital I/O Grippers
@@ -332,7 +333,7 @@ Robotiq grippers use a serial protocol over the robot's RS485 port. If you have
 from urkit import URRobot, DigitalGripperConfig
 
 robot = URRobot(
-    ip="172.31.1.42",
+    ip="192.168.1.50",
     points="points.db",
     gripper=DigitalGripperConfig(pin=3),  # pin 3 goes high = close
 )
@@ -348,7 +349,7 @@ robot.gripper.close()   # turn pin 3 on
 The points database is optional. Create a robot without one and attach later:
 
 ```python
-robot = URRobot(ip="172.31.1.42")
+robot = URRobot(ip="192.168.1.50")
 robot.points_db = "points.db"
 ```
 
@@ -552,7 +553,7 @@ URKit searches for `config.yaml` in this order:
 
 | Key | Description | Example |
 |-----|-------------|---------|
-| `robot_ip` | Robot IP address | `172.31.1.42` |
+| `robot_ip` | Robot IP address | `192.168.1.50` |
 | `points_path` | Path to SQLite points database | `points.db` |
 | `gripper` | Gripper preset name | `hand-e`, `2f-85`, `2f-140`, `digital` |
 | `default_vel` | Default linear velocity (m/s) | `0.5` |
@@ -577,7 +578,7 @@ gripper_config:
 
 ### CLI Override Precedence
 
-1. **CLI flags.** `urkit teach 172.31.1.42 --gripper none`
+1. **CLI flags.** `urkit teach 192.168.1.50 --gripper none`
 2. **Config file.** Values from `config.yaml`
 3. **Built-in defaults.** `points.db`, no gripper, 0.5 m/s velocity
 
@@ -586,7 +587,7 @@ gripper_config:
 The CLI **never** modifies your config file automatically. Press **Y** inside the teach pendant to save. This way you only save settings you've actually tested.
 
 ```bash
-urkit teach 172.31.1.42 --gripper hand-e  # test, then press Y
+urkit teach 192.168.1.50 --gripper hand-e  # test, then press Y
 urkit teach                               # next time: reads from config
 ```
 
@@ -605,7 +606,7 @@ from urkit import load_config, resolve_config
 config = load_config()                          # auto-resolve
 config = load_config("/path/to/my.yaml")        # explicit path
 path = resolve_config()                         # returns Path or None
-robot = URRobot.from_config({"robot_ip": "172.31.1.42", "gripper": "2f-85"})
+robot = URRobot.from_config({"robot_ip": "192.168.1.50", "gripper": "2f-85"})
 ```
 
 ---
@@ -639,7 +640,7 @@ robot.reconnect_rtde()      # reconnect after a drop
 from urkit import URKitError, MotionError, PointError
 
 try:
-    robot = URRobot(ip="172.31.1.42", points="points.db")
+    robot = URRobot(ip="192.168.1.50", points="points.db")
 except RobotNotInRemoteModeError:
     print("Enable remote control on the teach pendant!")
 except RtdeRegisterConflictError:

{urkit-0.3.3 → urkit-0.3.5}/tests/test_gripper.py

@@ -49,10 +49,10 @@ class TestRobotiqActivation:
         with pytest.raises(GripperError, match="not activated"):
             self.gripper.close()
 
-    def test_set_position_without_activate_raises(self):
-        """set_position() raises if gripper is not activated."""
+    def test_set_position_mm_without_activate_raises(self):
+        """set_position_mm() raises if gripper is not activated."""
         with pytest.raises(GripperError, match="not activated"):
-            self.gripper.set_position(50)
+            self.gripper.set_position_mm(50)
 
     def test_activate_sends_script_and_sets_flag(self):
         """activate() sends the preamble+activation script and sets _activated."""
@@ -86,11 +86,11 @@ class TestRobotiqActivation:
         # activate (combined check+activate+open) + close = 2 calls
         assert self.rtde.sendCustomScriptFunction.call_count == 2
 
-    def test_set_position_after_activate(self):
-        """set_position() works after activate()."""
+    def test_set_position_mm_after_activate(self):
+        """set_position_mm() works after activate()."""
         self.gripper.activate()
-        self.gripper.set_position(25)
-        # activate (combined check+activate+open) + set_position = 2 calls
+        self.gripper.set_position_mm(25)
+        # activate (combined check+activate+open) + set_position_mm = 2 calls
         assert self.rtde.sendCustomScriptFunction.call_count == 2
 
     def test_requires_rtde_control(self):
@@ -137,16 +137,16 @@ class TestRobotiqActivation:
         self.gripper.close()
         assert self.gripper.get_position_mm() == 0.0
 
-    def test_get_position_mm_after_set_position(self):
+    def test_get_position_mm_after_set_position_mm(self):
         """get_position_mm() returns the commanded position."""
         self.gripper.activate()
-        self.gripper.set_position(25)
+        self.gripper.set_position_mm(25)
         assert self.gripper.get_position_mm() == 25.0
 
     def test_get_position_mm_after_disconnect(self):
         """get_position_mm() returns None after disconnect."""
         self.gripper.activate()
-        self.gripper.set_position(30)
+        self.gripper.set_position_mm(30)
         self.gripper.disconnect()
         assert self.gripper.get_position_mm() is None
 
@@ -189,10 +189,10 @@ class TestDigitalActivation:
         gripper.close()
         mock_rtde.setStandardDigitalOut.assert_called_with(1, False)
 
-    def test_set_position_raises(self, mock_rtde, mock_rtde_r):
+    def test_set_position_mm_raises(self, mock_rtde, mock_rtde_r):
         gripper = DigitalGripper(mock_rtde, mock_rtde_r, pin=0)
-        with pytest.raises(GripperError, match="do not support set_position"):
-            gripper.set_position(0)
+        with pytest.raises(GripperError, match="do not support set_position_mm"):
+            gripper.set_position_mm(0)
 
     def test_set_force_raises(self, mock_rtde, mock_rtde_r):
         gripper = DigitalGripper(mock_rtde, mock_rtde_r, pin=0)

{urkit-0.3.3 → urkit-0.3.5}/tests/test_robot_integration.py

@@ -1,7 +1,7 @@
 """Integration tests against a real Universal Robot.
 
 Set ROBOT_IP environment variable to run:
-    ROBOT_IP=172.31.1.42 PYTHONPATH= .venv/bin/python -m pytest tests/test_robot_integration.py -v
+    ROBOT_IP=192.168.1.50 PYTHONPATH= .venv/bin/python -m pytest tests/test_robot_integration.py -v
 
 Tests are skipped automatically if ROBOT_IP is not set or the robot
 is unreachable. All tests are designed to be safe — read-only telemetry