urkit 0.4.6__tar.gz → 0.5.0__tar.gz

{urkit-0.4.6 → urkit-0.5.0}/PKG-INFO

@@ -1,6 +1,6 @@
 Metadata-Version: 2.4
 Name: urkit
-Version: 0.4.6
+Version: 0.5.0
 Summary: Universal Robots e-Series control toolkit built on ur_rtde
 Author: URKit Contributors
 License: MIT
@@ -46,7 +46,7 @@ Built for labs and research setups where you need to get the robot moving fast a
 
 ## How it works
 
-Use the CLI to position the robot and save named waypoints. Then reference them by name in your code: move to points, apply offsets, run sequences. Points are stored in a local SQLite database, no robot-side setup needed.
+Use the CLI to position the robot and save named waypoints. Then reference them by name in your code: move to points, apply deltas, run sequences. Points are stored in a local SQLite database, no robot-side setup needed.
 
 The typical workflow: teach points with the pendant, write a few lines of Python to string them together, run it. Add vision, add sensors, add logic. The robot is just one component in your pipeline.
 
@@ -144,7 +144,7 @@ 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_z=0.05)  # 5cm above
+robot.move_to("pick", dz=0.05)  # 5cm above
 robot.gripper.close()
 robot.move_to("place")
 robot.gripper.open()
@@ -162,7 +162,7 @@ from urkit import URRobot
 
 robot = URRobot.from_config("config.yaml")
 robot.move_to("home")
-robot.move_to("pick", offset_z=0.05)
+robot.move_to("pick", dz=0.05)
 ```
 
 5. **Iterate.** Add more points, tweak your code, repeat.
@@ -592,14 +592,14 @@ while robot.is_moving():
 
 A pose is `[x, y, z, rx, ry, rz]`: position in meters and orientation as a **rotation vector** (axis-angle in radians). This is not RPY (roll/pitch/yaw). The teach pendant displays RPY in degrees, which is a different representation. Values you see on the pendant won't match `get_current_point()` directly.
 
-#### Offsets
+#### Deltas
 
-Offsets can use individual parameters or a full 6-element list:
+Deltas can use individual parameters or a full 6-element list:
 
 ```python
-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
+robot.move_to("pick", dz=0.05)  # 5cm above
+robot.move_to("pick", dx=0.01, dz=-0.02)  # combined
+robot.move_to("pick", delta=[0, 0, 0.05, 0, 0.1, 0])  # full with rotation
 ```
 
 #### Resolve a Pose
@@ -608,7 +608,7 @@ Get a pose without moving. Useful for logging, comparisons, or custom motion:
 
 ```python
 point = robot.get_point("pick")
-point = robot.get_point("pick", offset=[0, 0, 0.05, 0, 0, 0])  # with offset
+point = robot.get_point("pick", delta=[0, 0, 0.05, 0, 0, 0])  # with delta
 robot.move_to(pose)  # move to the resolved pose later
 ```
 
@@ -618,7 +618,7 @@ 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(delta_z=0.05)  # 5cm along tool Z
+robot.move_relative(dz=0.05)  # 5cm along tool Z
 ```
 
 - **BASE** (default): delta relative to robot base
@@ -639,7 +639,7 @@ robot.ik_reference = "home"
 # Now all moves stay close to that posture, no elbow flipping
 robot.move_to("pick")
 robot.move_to("place")
-robot.move_relative(delta_z=-0.05)
+robot.move_relative(dz=-0.05)
 ```
 
 **In config.yaml** (recommended for permanent setup):
@@ -682,12 +682,12 @@ robot.import_points("backup.json")
 #### Relative Moves
 
 ```python
-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(dy=0.01)  # 1cm along Y
+robot.move_relative(dz=0.05, frame=MoveFrame.TOOL)  # 5cm along tool Z
 robot.move_relative([0, 0.01, 0, 0, 0, 0])  # full 6-element delta
 ```
 
-Individual delta parameters (`delta_x`, `delta_y`, `delta_z`, `delta_rx`, `delta_ry`, `delta_rz`) are mutually exclusive with the `delta` list. Use one or the other.
+Individual delta parameters (`dx`, `dy`, `dz`, `drx`, `dry`, `drz`) are mutually exclusive with the `delta` list. Use one or the other.
 
 #### Sequences
 
@@ -718,26 +718,26 @@ Before sending any move, it checks that each pose has a valid IK solution. Unrea
 
 ```python
 # Move straight down until contact (zeros FT sensor automatically)
-robot.move_until_contact(speed_z=-0.02)
+robot.move_until_contact(vz=-0.02)
 
 # Custom threshold (default: 5.0 N/Nm)
-robot.move_until_contact(speed_z=-0.02, threshold=10.0)
+robot.move_until_contact(vz=-0.02, threshold=10.0)
 
 # Skip zeroing if you need absolute force values
-robot.move_until_contact(speed_z=-0.02, zero_first=False)
+robot.move_until_contact(vz=-0.02, zero_first=False)
 
 # Full speed vector
 robot.move_until_contact([0, 0, -0.02, 0, 0, 0])
 
 # Abort after 10s or 200mm of travel, whichever comes first
-robot.move_until_contact(speed_z=-0.02, timeout=10.0, max_distance=0.2)
+robot.move_until_contact(vz=-0.02, timeout=10.0, max_distance=0.2)
 
 # Returns True if contact detected, False if timeout/max_distance hit
 for _ in range(3):
-    if robot.move_until_contact(speed_z=-0.02, timeout=10.0, max_distance=0.2):
+    if robot.move_until_contact(vz=-0.02, timeout=10.0, max_distance=0.2):
         break  # contact detected
     # No contact, back off and retry
-    robot.move_relative(delta_z=0.01)
+    robot.move_relative(dz=0.01)
 
 # Manual zero (e.g. before custom force-based logic)
 robot.zero_ft_sensor()
@@ -800,7 +800,7 @@ joints = robot.inverse_kinematics([0.5, 0, 0.3, 0, 0, 0])
 
 ```python
 pose = robot.get_current_point()           # [x, y, z, rx, ry, rz]
-pose = robot.get_current_point(offset_z=0.05)  # with offset
+pose = robot.get_current_point(dz=0.05)  # with delta
 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.
@@ -937,9 +937,33 @@ Full `ur_rtde` documentation: <https://sdurobotics.gitlab.io/ur_rtde/>
 
 ```python
 robot.connection_lost       # bool: check if RTDE dropped
-robot.reconnect_rtde()      # reconnect after a drop
 ```
 
+An RTDE drop is fatal for the session: urkit raises and the CLI exits.
+Restart `urkit` (or create a new `URRobot`) to reconnect. urkit
+deliberately does not auto-reconnect mid-session: a silent reconnect
+hides what happened to the link and lets the native layer resynchronize
+state behind your back.
+
+**What happens when the link drops mid-session** (verified by
+force-dropping the network with Windows firewall rules):
+
+- **Before a motion call**: every motion command checks the link first
+  and raises `URKitConnectionError` immediately. This matters because a
+  call into the native layer on a dead link would not return an error:
+  the vendored `ur_rtde` library enters its own internal reconnect
+  loop and blocks indefinitely (measured: 45 s+ and still hanging
+  under a firewall block).
+- **While a motion is running**: the CLI's connection monitor detects
+  the drop within ~0.1 s and exits cleanly (interrupt watcher on
+  Windows, SIGALRM on Unix). In library code, an in-flight call can
+  block inside the native reconnect loop; kill the process and restart.
+- **After a hard drop**: the robot can keep the RTDE registers locked
+  until the dead connection times out. If a fresh connect fails with
+  `RtdeRegisterConflictError`, power cycle the controller (dashboard
+  `power off` / `power on` works remotely; or Settings -> System ->
+  Shutdown on the pendant), then reconnect.
+
 ### Error Handling
 
 ```python

{urkit-0.4.6 → urkit-0.5.0}/README.md

@@ -20,7 +20,7 @@ Built for labs and research setups where you need to get the robot moving fast a
 
 ## How it works
 
-Use the CLI to position the robot and save named waypoints. Then reference them by name in your code: move to points, apply offsets, run sequences. Points are stored in a local SQLite database, no robot-side setup needed.
+Use the CLI to position the robot and save named waypoints. Then reference them by name in your code: move to points, apply deltas, run sequences. Points are stored in a local SQLite database, no robot-side setup needed.
 
 The typical workflow: teach points with the pendant, write a few lines of Python to string them together, run it. Add vision, add sensors, add logic. The robot is just one component in your pipeline.
 
@@ -118,7 +118,7 @@ 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_z=0.05)  # 5cm above
+robot.move_to("pick", dz=0.05)  # 5cm above
 robot.gripper.close()
 robot.move_to("place")
 robot.gripper.open()
@@ -136,7 +136,7 @@ from urkit import URRobot
 
 robot = URRobot.from_config("config.yaml")
 robot.move_to("home")
-robot.move_to("pick", offset_z=0.05)
+robot.move_to("pick", dz=0.05)
 ```
 
 5. **Iterate.** Add more points, tweak your code, repeat.
@@ -566,14 +566,14 @@ while robot.is_moving():
 
 A pose is `[x, y, z, rx, ry, rz]`: position in meters and orientation as a **rotation vector** (axis-angle in radians). This is not RPY (roll/pitch/yaw). The teach pendant displays RPY in degrees, which is a different representation. Values you see on the pendant won't match `get_current_point()` directly.
 
-#### Offsets
+#### Deltas
 
-Offsets can use individual parameters or a full 6-element list:
+Deltas can use individual parameters or a full 6-element list:
 
 ```python
-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
+robot.move_to("pick", dz=0.05)  # 5cm above
+robot.move_to("pick", dx=0.01, dz=-0.02)  # combined
+robot.move_to("pick", delta=[0, 0, 0.05, 0, 0.1, 0])  # full with rotation
 ```
 
 #### Resolve a Pose
@@ -582,7 +582,7 @@ Get a pose without moving. Useful for logging, comparisons, or custom motion:
 
 ```python
 point = robot.get_point("pick")
-point = robot.get_point("pick", offset=[0, 0, 0.05, 0, 0, 0])  # with offset
+point = robot.get_point("pick", delta=[0, 0, 0.05, 0, 0, 0])  # with delta
 robot.move_to(pose)  # move to the resolved pose later
 ```
 
@@ -592,7 +592,7 @@ 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(delta_z=0.05)  # 5cm along tool Z
+robot.move_relative(dz=0.05)  # 5cm along tool Z
 ```
 
 - **BASE** (default): delta relative to robot base
@@ -613,7 +613,7 @@ robot.ik_reference = "home"
 # Now all moves stay close to that posture, no elbow flipping
 robot.move_to("pick")
 robot.move_to("place")
-robot.move_relative(delta_z=-0.05)
+robot.move_relative(dz=-0.05)
 ```
 
 **In config.yaml** (recommended for permanent setup):
@@ -656,12 +656,12 @@ robot.import_points("backup.json")
 #### Relative Moves
 
 ```python
-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(dy=0.01)  # 1cm along Y
+robot.move_relative(dz=0.05, frame=MoveFrame.TOOL)  # 5cm along tool Z
 robot.move_relative([0, 0.01, 0, 0, 0, 0])  # full 6-element delta
 ```
 
-Individual delta parameters (`delta_x`, `delta_y`, `delta_z`, `delta_rx`, `delta_ry`, `delta_rz`) are mutually exclusive with the `delta` list. Use one or the other.
+Individual delta parameters (`dx`, `dy`, `dz`, `drx`, `dry`, `drz`) are mutually exclusive with the `delta` list. Use one or the other.
 
 #### Sequences
 
@@ -692,26 +692,26 @@ Before sending any move, it checks that each pose has a valid IK solution. Unrea
 
 ```python
 # Move straight down until contact (zeros FT sensor automatically)
-robot.move_until_contact(speed_z=-0.02)
+robot.move_until_contact(vz=-0.02)
 
 # Custom threshold (default: 5.0 N/Nm)
-robot.move_until_contact(speed_z=-0.02, threshold=10.0)
+robot.move_until_contact(vz=-0.02, threshold=10.0)
 
 # Skip zeroing if you need absolute force values
-robot.move_until_contact(speed_z=-0.02, zero_first=False)
+robot.move_until_contact(vz=-0.02, zero_first=False)
 
 # Full speed vector
 robot.move_until_contact([0, 0, -0.02, 0, 0, 0])
 
 # Abort after 10s or 200mm of travel, whichever comes first
-robot.move_until_contact(speed_z=-0.02, timeout=10.0, max_distance=0.2)
+robot.move_until_contact(vz=-0.02, timeout=10.0, max_distance=0.2)
 
 # Returns True if contact detected, False if timeout/max_distance hit
 for _ in range(3):
-    if robot.move_until_contact(speed_z=-0.02, timeout=10.0, max_distance=0.2):
+    if robot.move_until_contact(vz=-0.02, timeout=10.0, max_distance=0.2):
         break  # contact detected
     # No contact, back off and retry
-    robot.move_relative(delta_z=0.01)
+    robot.move_relative(dz=0.01)
 
 # Manual zero (e.g. before custom force-based logic)
 robot.zero_ft_sensor()
@@ -774,7 +774,7 @@ joints = robot.inverse_kinematics([0.5, 0, 0.3, 0, 0, 0])
 
 ```python
 pose = robot.get_current_point()           # [x, y, z, rx, ry, rz]
-pose = robot.get_current_point(offset_z=0.05)  # with offset
+pose = robot.get_current_point(dz=0.05)  # with delta
 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.
@@ -911,9 +911,33 @@ Full `ur_rtde` documentation: <https://sdurobotics.gitlab.io/ur_rtde/>
 
 ```python
 robot.connection_lost       # bool: check if RTDE dropped
-robot.reconnect_rtde()      # reconnect after a drop
 ```
 
+An RTDE drop is fatal for the session: urkit raises and the CLI exits.
+Restart `urkit` (or create a new `URRobot`) to reconnect. urkit
+deliberately does not auto-reconnect mid-session: a silent reconnect
+hides what happened to the link and lets the native layer resynchronize
+state behind your back.
+
+**What happens when the link drops mid-session** (verified by
+force-dropping the network with Windows firewall rules):
+
+- **Before a motion call**: every motion command checks the link first
+  and raises `URKitConnectionError` immediately. This matters because a
+  call into the native layer on a dead link would not return an error:
+  the vendored `ur_rtde` library enters its own internal reconnect
+  loop and blocks indefinitely (measured: 45 s+ and still hanging
+  under a firewall block).
+- **While a motion is running**: the CLI's connection monitor detects
+  the drop within ~0.1 s and exits cleanly (interrupt watcher on
+  Windows, SIGALRM on Unix). In library code, an in-flight call can
+  block inside the native reconnect loop; kill the process and restart.
+- **After a hard drop**: the robot can keep the RTDE registers locked
+  until the dead connection times out. If a fresh connect fails with
+  `RtdeRegisterConflictError`, power cycle the controller (dashboard
+  `power off` / `power on` works remotely; or Settings -> System ->
+  Shutdown on the pendant), then reconnect.
+
 ### Error Handling
 
 ```python

{urkit-0.4.6 → urkit-0.5.0}/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.4.6"
+version = "0.5.0"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

{urkit-0.4.6 → urkit-0.5.0}/src/urkit/__init__.py

@@ -24,7 +24,7 @@ Quick start::
 
 from __future__ import annotations
 
-__version__ = "0.4.6"
+__version__ = "0.5.0"
 
 
 from urkit.exceptions import (
@@ -58,7 +58,7 @@ from urkit.gripper.presets import (
     ROBOTIQ_HAND_E,
 )
 from urkit.motion import FreedriveMode
-from urkit.robot import URRobot
+from urkit.robot import GLOBAL, URRobot
 
 __all__ = [
     # Version
@@ -66,6 +66,8 @@ __all__ = [
 
     # Core class
     "URRobot",
+    # IK reference sentinel (per-call ik_reference=GLOBAL)
+    "GLOBAL",
     # Gripper
     "Gripper",
     "GripperPreset",

{urkit-0.4.6 → urkit-0.5.0}/src/urkit/__main__.py

@@ -142,6 +142,14 @@ def main() -> None:
 
 def main_entry() -> None:
     """Entry point for console script."""
+    # A redirected Windows console uses the ANSI code page (cp1252):
+    # unencodable characters (status symbols, log text) must degrade
+    # to '?' instead of crashing the session. TTY consoles are
+    # Unicode-native and unaffected.
+    for stream in (sys.stdout, sys.stderr):
+        reconfigure = getattr(stream, "reconfigure", None)
+        if reconfigure is not None:
+            reconfigure(errors="replace")
     main()