urkit 0.3.7__tar.gz → 0.3.9__tar.gz

{urkit-0.3.7 → urkit-0.3.9}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.7
+Version: 0.3.9
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -88,7 +88,7 @@ robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 robot.gripper.activate()
 
 robot.move_to("home")
-robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])
+robot.move_to("pick", offset_z=0.05)  # 5cm above
 robot.gripper.close()
 robot.move_to("place")
 robot.gripper.open()
@@ -394,10 +394,12 @@ A pose is `[x, y, z, rx, ry, rz]`: position in meters and orientation as a **rot
 
 #### Offsets
 
-Offsets are 6-element lists `[dx, dy, dz, drx, dry, drz]`:
+Offsets can use individual parameters or a full 6-element list:
 
 ```python
-robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])  # 5cm above pick
+robot.move_to("pick", offset_z=0.05)  # 5cm above
+robot.move_to("pick", offset_x=0.01, offset_z=-0.02)  # combined
+robot.move_to("pick", offset=[0, 0, 0.05, 0, 0.1, 0])  # full with rotation
 ```
 
 #### Resolve a Pose
@@ -416,7 +418,7 @@ robot.move_to(pose)  # move to the resolved pose later
 from urkit import MoveFrame
 
 robot.move_frame = MoveFrame.TOOL   # default is BASE
-robot.move_relative([0, 0, 0.05, 0, 0, 0])  # 5cm along tool Z
+robot.move_relative(delta_z=0.05)  # 5cm along tool Z
 ```
 
 - **BASE** (default): delta relative to robot base
@@ -440,8 +442,9 @@ robot.import_points("backup.json")
 #### Relative Moves
 
 ```python
-robot.move_relative([0, 0.01, 0, 0, 0, 0])  # 1cm along Y
-robot.move_relative([0, 0, 0.05, 0, 0, 0], frame=MoveFrame.TOOL)  # 5cm along tool Z
+robot.move_relative(delta_y=0.01)  # 1cm along Y
+robot.move_relative(delta_z=0.05, frame=MoveFrame.TOOL)  # 5cm along tool Z
+robot.move_relative([0, 0.01, 0, 0, 0, 0])
 ```
 
 #### Sequences with Blending

{urkit-0.3.7 → urkit-0.3.9}/README.md

@@ -62,7 +62,7 @@ robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 robot.gripper.activate()
 
 robot.move_to("home")
-robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])
+robot.move_to("pick", offset_z=0.05)  # 5cm above
 robot.gripper.close()
 robot.move_to("place")
 robot.gripper.open()
@@ -368,10 +368,12 @@ A pose is `[x, y, z, rx, ry, rz]`: position in meters and orientation as a **rot
 
 #### Offsets
 
-Offsets are 6-element lists `[dx, dy, dz, drx, dry, drz]`:
+Offsets can use individual parameters or a full 6-element list:
 
 ```python
-robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])  # 5cm above pick
+robot.move_to("pick", offset_z=0.05)  # 5cm above
+robot.move_to("pick", offset_x=0.01, offset_z=-0.02)  # combined
+robot.move_to("pick", offset=[0, 0, 0.05, 0, 0.1, 0])  # full with rotation
 ```
 
 #### Resolve a Pose
@@ -390,7 +392,7 @@ robot.move_to(pose)  # move to the resolved pose later
 from urkit import MoveFrame
 
 robot.move_frame = MoveFrame.TOOL   # default is BASE
-robot.move_relative([0, 0, 0.05, 0, 0, 0])  # 5cm along tool Z
+robot.move_relative(delta_z=0.05)  # 5cm along tool Z
 ```
 
 - **BASE** (default): delta relative to robot base
@@ -414,8 +416,9 @@ robot.import_points("backup.json")
 #### Relative Moves
 
 ```python
-robot.move_relative([0, 0.01, 0, 0, 0, 0])  # 1cm along Y
-robot.move_relative([0, 0, 0.05, 0, 0, 0], frame=MoveFrame.TOOL)  # 5cm along tool Z
+robot.move_relative(delta_y=0.01)  # 1cm along Y
+robot.move_relative(delta_z=0.05, frame=MoveFrame.TOOL)  # 5cm along tool Z
+robot.move_relative([0, 0.01, 0, 0, 0, 0])
 ```
 
 #### Sequences with Blending

{urkit-0.3.7 → urkit-0.3.9}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.7"
+version = "0.3.9"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.3.7 → urkit-0.3.9}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.3.7"
+__version__ = "0.3.9"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

{urkit-0.3.7 → urkit-0.3.9}/src/urkit/robot.py

@@ -163,7 +163,10 @@ class URRobot:
         # handles that case too.
         self._connect_dashboard()
         did_power_on = self.power_on()
-        did_release = self.release_brakes()
+        # After power_on the robot is IDLE but brakes are still engaged —
+        # robotmode can't distinguish "IDLE braked" from "IDLE released",
+        # so force the brake release when we just powered on.
+        did_release = self.release_brakes(force=did_power_on)
         boot_needed = did_power_on or did_release
 
         # Settle after boot — the robot reports IDLE but the Secondary
@@ -438,7 +441,7 @@ class URRobot:
         Example:
             >>> robot.move_frame = MoveFrame.TOOL
             >>> robot.move_relative([0.01, 0, 0, 0, 0, 0])  # +X in tool frame
-            >>> robot.move_to("pick", offset=[0, 0, 0.05])   # offset in tool frame
+            >>> robot.move_to("pick", offset_z=0.05)   # offset in tool frame
         """
         return self._move_frame
 
@@ -584,9 +587,13 @@ class URRobot:
             if "Powering on" in response:
                 _status("Powering on robot...", done=False)
                 logger.info("Robot powering on, waiting for ready state...")
+                # Wait until the robot reaches IDLE (brakes engaged, ready for
+                # brake release).  Stopping at "not POWER_OFF" is insufficient —
+                # the robot may still be in POWER_ON or BOOTING where the
+                # dashboard rejects "brake release" with a mounting error.
                 self._poll_robotmode(
-                    lambda m: "POWER_OFF" not in m.upper(),
-                    timeout=30.0,
+                    lambda m: "IDLE" in m.upper(),
+                    timeout=15.0,
                 )
                 _status("Robot powered on", done=True)
                 return True
@@ -613,11 +620,17 @@ class URRobot:
         except Exception as e:
             raise ConnectionError(f"Power off failed: {e}")
 
-    def release_brakes(self) -> bool:
+    def release_brakes(self, *, force: bool = False) -> bool:
         """Release the robot brakes (enable control).
 
-        Checks the current robot mode first. If the robot is already
-        in IDLE or RUNNING, the command is skipped silently.
+        Checks the current mode first. If the robot is already
+        in RUNNING, the command is skipped silently. (IDLE cannot
+        distinguish braked from released — use *force* after power_on.)
+
+        Args:
+            force: Skip the mode check and send brake release regardless.
+                Should be True when called immediately after power_on(),
+                because robotmode reports IDLE for both braked and released.
 
         Polls until the robot reports IDLE or RUNNING mode.
 
@@ -629,20 +642,34 @@ class URRobot:
             ConnectionError: If brake release fails or times out.
         """
         try:
-            # Check current mode first — skip if already released.
+            # Check current mode first — skip if already running.
+            # Note: IDLE is ambiguous (brakes may be engaged or released),
+            # so we only skip on RUNNING.  When force=True (called after
+            # power_on), we skip the check entirely.
             mode = self._send_dashboard("robotmode").upper()
-            if "IDLE" in mode or "RUNNING" in mode:
+            if not force and "RUNNING" in mode:
                 logger.info("Brakes already released (mode: %s), skipping.", mode)
                 return False
 
             response = self._send_dashboard("brake release")
             logger.info("Brake release: %s", response)
+
+            # Retry once if the mounting calibration wasn't ready.
+            if "mounting is not correct" in response:
+                logger.info(
+                    "Brake release rejected (mounting not ready), "
+                    "retrying after 3s..."
+                )
+                time.sleep(3)
+                response = self._send_dashboard("brake release")
+                logger.info("Brake release (retry): %s", response)
+
             if "Brake releasing" in response:
                 _status("Releasing brakes...", done=False)
                 logger.info("Brakes releasing, waiting for ready state...")
                 self._poll_robotmode(
                     lambda m: "IDLE" in m.upper() or "RUNNING" in m.upper(),
-                    timeout=30.0,
+                    timeout=15.0,
                 )
                 _status("Brakes released", done=True)
                 return True
@@ -821,6 +848,12 @@ class URRobot:
         *,
         offset: list[float] | None = None,
         frame: MoveFrame | None = None,
+        offset_x: float = 0.0,
+        offset_y: float = 0.0,
+        offset_z: float = 0.0,
+        offset_rx: float = 0.0,
+        offset_ry: float = 0.0,
+        offset_rz: float = 0.0,
     ) -> list[float]:
         """Resolve a saved point or raw pose to a TCP pose.
 
@@ -831,9 +864,16 @@ class URRobot:
             target: A saved point name (str) or a raw TCP pose
                 [x, y, z, rx, ry, rz].
             offset: Optional offset [dx, dy, dz, drx, dry, drz]
-                applied to the target pose.
+                applied to the target pose. Mutually exclusive with
+                individual offset_* parameters.
             frame: Coordinate frame for the offset. Falls back to the
                 current ``move_frame`` property (BASE or TOOL).
+            offset_x: X offset in meters (default 0.0).
+            offset_y: Y offset in meters (default 0.0).
+            offset_z: Z offset in meters (default 0.0).
+            offset_rx: Roll offset in radians (default 0.0).
+            offset_ry: Pitch offset in radians (default 0.0).
+            offset_rz: Yaw offset in radians (default 0.0).
 
         Returns:
             TCP pose as [x, y, z, rx, ry, rz].
@@ -843,18 +883,32 @@ class URRobot:
 
         Example:
             >>> pose = robot.get_pose("pick")
-            >>> pose = robot.get_pose("pick", offset=[0, 0, 0.05, 0, 0, 0])
+            >>> pose = robot.get_pose("pick", offset_z=0.05)
             >>> robot.move_to(pose)
         """
         point = self._lookup_point(target)
 
-        if offset is not None:
-            if len(offset) != 6:
+        # Build offset from individual params or use provided list
+        individual_offset = [offset_x, offset_y, offset_z, offset_rx, offset_ry, offset_rz]
+        has_individual = any(v != 0.0 for v in individual_offset)
+
+        if offset is not None and has_individual:
+            raise PointError(
+                "Cannot use both 'offset' list and individual offset_* parameters. "
+                "Use one or the other."
+            )
+
+        final_offset = offset if offset is not None and not has_individual else (
+            individual_offset if has_individual else None
+        )
+
+        if final_offset is not None:
+            if len(final_offset) != 6:
                 raise PointError(
                     f"Offset must have 6 values [dx, dy, dz, drx, dry, drz], "
-                    f"got {len(offset)}."
+                    f"got {len(final_offset)}."
                 )
-            point = point.with_offset(offset, frame=frame or self._move_frame)
+            point = point.with_offset(final_offset, frame=frame or self._move_frame)
 
         return list(point.pose)
 
@@ -868,6 +922,12 @@ class URRobot:
         vel: float | None = None,
         acc: float | None = None,
         asynchronous: bool = False,
+        offset_x: float = 0.0,
+        offset_y: float = 0.0,
+        offset_z: float = 0.0,
+        offset_rx: float = 0.0,
+        offset_ry: float = 0.0,
+        offset_rz: float = 0.0,
     ) -> None:
         """Move to a saved point or raw pose.
 
@@ -877,11 +937,20 @@ class URRobot:
             linear: If True (default), use Cartesian linear move (moveL).
                 If False, use joint-space move (moveJ).
             offset: Optional offset [dx, dy, dz, drx, dry, drz]
-                applied to the target pose before moving.
+                applied to the target pose before moving. Mutually
+                exclusive with individual offset_* parameters.
             frame: Coordinate frame for the offset. Falls back to the
                 current ``move_frame`` property (BASE or TOOL).
             vel: Velocity override. Falls back to default_vel.
             acc: Acceleration override. Falls back to default_acc.
+            asynchronous: If True, move runs in background and method returns
+                immediately (default False).
+            offset_x: X offset in meters (default 0.0).
+            offset_y: Y offset in meters (default 0.0).
+            offset_z: Z offset in meters (default 0.0).
+            offset_rx: Roll offset in radians (default 0.0).
+            offset_ry: Pitch offset in radians (default 0.0).
+            offset_rz: Yaw offset in radians (default 0.0).
 
         Raises:
             MotionError: If the move fails or IK has no solution.
@@ -890,8 +959,9 @@ class URRobot:
         Example:
             >>> robot.move_to("home")
             >>> robot.move_to("pick", linear=False)
-            >>> robot.move_to("place", offset=[0, 0, 0.05, 0, 0, 0])
-            >>> robot.move_to("place", offset=[0, 0, 0.05], frame=MoveFrame.TOOL)
+            >>> robot.move_to("pick", offset_z=0.05)  # 5cm above
+            >>> robot.move_to("pick", offset_x=0.01, offset_z=-0.02)
+            >>> robot.move_to("pick", offset=[0, 0, 0.05, 0, 0.1, 0])  # full
             >>> robot.move_to([0.5, 0, 0.3, 0, 0, 0])  # raw pose
         """
         self._check_connection()
@@ -899,14 +969,28 @@ class URRobot:
 
         point = self._lookup_point(target)
 
+        # Build offset from individual params or use provided list
+        individual_offset = [offset_x, offset_y, offset_z, offset_rx, offset_ry, offset_rz]
+        has_individual = any(v != 0.0 for v in individual_offset)
+
+        if offset is not None and has_individual:
+            raise PointError(
+                "Cannot use both 'offset' list and individual offset_* parameters. "
+                "Use one or the other."
+            )
+
+        final_offset = offset if offset is not None and not has_individual else (
+            individual_offset if has_individual else None
+        )
+
         # Apply offset if provided
-        if offset is not None:
-            if len(offset) != 6:
+        if final_offset is not None:
+            if len(final_offset) != 6:
                 raise PointError(
                     f"Offset must have 6 values [dx, dy, dz, drx, dry, drz], "
-                    f"got {len(offset)}."
+                    f"got {len(final_offset)}."
                 )
-            point = point.with_offset(offset, frame=frame or self._move_frame)
+            point = point.with_offset(final_offset, frame=frame or self._move_frame)
 
         pose = list(point.pose)
 
@@ -978,12 +1062,19 @@ class URRobot:
 
     def move_relative(
         self,
-        delta: list[float],
+        delta: list[float] | None = None,
         *,
         linear: bool = True,
         frame: MoveFrame | None = None,
         vel: float | None = None,
         acc: float | None = None,
+        asynchronous: bool = False,
+        delta_x: float = 0.0,
+        delta_y: float = 0.0,
+        delta_z: float = 0.0,
+        delta_rx: float = 0.0,
+        delta_ry: float = 0.0,
+        delta_rz: float = 0.0,
     ) -> None:
         """Relative Cartesian move from the current position.
 
@@ -992,27 +1083,57 @@ class URRobot:
 
         Args:
             delta: [dx, dy, dz, drx, dry, drz] in meters/radians.
+                Mutually exclusive with individual delta_* parameters.
             linear: If True (default), use Cartesian linear move.
                 If False, solve IK and use joint-space move.
             frame: Coordinate frame for the delta. Falls back to the
                 current ``move_frame`` property (BASE or TOOL).
             vel: Velocity override. Falls back to default_vel.
             acc: Acceleration override. Falls back to default_acc.
+            asynchronous: If True, move runs in background and method returns
+                immediately (default False).
+            delta_x: X delta in meters (default 0.0).
+            delta_y: Y delta in meters (default 0.0).
+            delta_z: Z delta in meters (default 0.0).
+            delta_rx: Roll delta in radians (default 0.0).
+            delta_ry: Pitch delta in radians (default 0.0).
+            delta_rz: Yaw delta in radians (default 0.0).
 
         Raises:
             MotionError: If the move fails.
 
         Example:
-            >>> robot.move_relative([0, 0.01, 0, 0, 0, 0])  # 1cm along Y
-            >>> robot.move_relative([0, 0, 0.05], frame=MoveFrame.TOOL)
+            >>> robot.move_relative(delta_y=0.01)  # 1cm along Y
+            >>> robot.move_relative(delta_z=0.05, frame=MoveFrame.TOOL)
+            >>> robot.move_relative([0, 0.01, 0, 0, 0, 0])  # full list
         """
         self._check_connection()
         self._disable_freedrive_guard()
 
-        if len(delta) != 6:
+        # Build delta from individual params or use provided list
+        individual_delta = [delta_x, delta_y, delta_z, delta_rx, delta_ry, delta_rz]
+        has_individual = any(v != 0.0 for v in individual_delta)
+
+        if delta is not None and has_individual:
+            raise MotionError(
+                "Cannot use both 'delta' list and individual delta_* parameters. "
+                "Use one or the other."
+            )
+
+        final_delta = delta if delta is not None and not has_individual else (
+            individual_delta if has_individual else None
+        )
+
+        if final_delta is None:
+            raise MotionError(
+                "Relative move requires either 'delta' list or at least one "
+                "delta_* parameter."
+            )
+
+        if len(final_delta) != 6:
             raise MotionError(
                 f"Relative move requires 6 values [dx,dy,dz,drx,dry,drz], "
-                f"got {len(delta)}."
+                f"got {len(final_delta)}."
             )
 
         vel = vel if vel is not None else self._default_vel
@@ -1021,13 +1142,13 @@ class URRobot:
 
         try:
             current = list(self._rtde_r.getActualTCPPose())
-            target = transform_pose_delta(current, delta, effective_frame)
+            target = transform_pose_delta(current, final_delta, effective_frame)
 
             if linear:
-                self._motion.movel(target, vel=vel, acc=acc)
+                self._motion.movel(target, vel=vel, acc=acc, asynchronous=asynchronous)
             else:
                 joints = self.inverse_kinematics(target)
-                self._motion.movej(joints, vel=vel, acc=acc)
+                self._motion.movej(joints, vel=vel, acc=acc, asynchronous=asynchronous)
         except MotionError:
             raise
         except Exception as e:
@@ -1041,6 +1162,7 @@ class URRobot:
         blend_radius: float = 0.0,
         vel: float | None = None,
         acc: float | None = None,
+        asynchronous: bool = False,
     ) -> None:
         """Move through a sequence of points with optional blending.
 
@@ -1062,6 +1184,8 @@ class URRobot:
                 Applied to intermediate points only.
             vel: Velocity override. Falls back to default_vel.
             acc: Acceleration override. Falls back to default_acc.
+            asynchronous: If True, sequence runs in background and method
+                returns immediately (default False).
 
         Raises:
             MotionError: If the sequence fails or fewer than 2 targets.
@@ -1109,7 +1233,7 @@ class URRobot:
             )
 
         try:
-            self._rtde_c.movePath(path, False)  # False = synchronous
+            self._rtde_c.movePath(path, not asynchronous)
         except Exception as e:
             raise MotionError(f"move_sequence failed: {e}")
 

{urkit-0.3.7 → urkit-0.3.9}/src/urkit.egg-info/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.3.7
+Version: 0.3.9
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -88,7 +88,7 @@ robot = URRobot(ip="192.168.1.50", points="points.db", gripper=ROBOTIQ_HAND_E)
 robot.gripper.activate()
 
 robot.move_to("home")
-robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])
+robot.move_to("pick", offset_z=0.05)  # 5cm above
 robot.gripper.close()
 robot.move_to("place")
 robot.gripper.open()
@@ -394,10 +394,12 @@ A pose is `[x, y, z, rx, ry, rz]`: position in meters and orientation as a **rot
 
 #### Offsets
 
-Offsets are 6-element lists `[dx, dy, dz, drx, dry, drz]`:
+Offsets can use individual parameters or a full 6-element list:
 
 ```python
-robot.move_to("pick", offset=[0, 0, 0.05, 0, 0, 0])  # 5cm above pick
+robot.move_to("pick", offset_z=0.05)  # 5cm above
+robot.move_to("pick", offset_x=0.01, offset_z=-0.02)  # combined
+robot.move_to("pick", offset=[0, 0, 0.05, 0, 0.1, 0])  # full with rotation
 ```
 
 #### Resolve a Pose
@@ -416,7 +418,7 @@ robot.move_to(pose)  # move to the resolved pose later
 from urkit import MoveFrame
 
 robot.move_frame = MoveFrame.TOOL   # default is BASE
-robot.move_relative([0, 0, 0.05, 0, 0, 0])  # 5cm along tool Z
+robot.move_relative(delta_z=0.05)  # 5cm along tool Z
 ```
 
 - **BASE** (default): delta relative to robot base
@@ -440,8 +442,9 @@ robot.import_points("backup.json")
 #### Relative Moves
 
 ```python
-robot.move_relative([0, 0.01, 0, 0, 0, 0])  # 1cm along Y
-robot.move_relative([0, 0, 0.05, 0, 0, 0], frame=MoveFrame.TOOL)  # 5cm along tool Z
+robot.move_relative(delta_y=0.01)  # 1cm along Y
+robot.move_relative(delta_z=0.05, frame=MoveFrame.TOOL)  # 5cm along tool Z
+robot.move_relative([0, 0.01, 0, 0, 0, 0])
 ```
 
 #### Sequences with Blending