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bump version to 0.3.14
- Fix freedrive: use current TCP pose as center for constrained modes (XYZ, ROTATION) - Capture ur_rtde stderr to surface robot errors in CLI - Replace Path/movePath API with individual moveL/moveJ calls in move_sequence - Add speed_x/y/z/rx/ry/rz keyword params to move_until_contact - Move inline imports to top of file (only optional/circular imports remain inline) - Add demo scripts and full config example
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‎CHANGELOG.md‎

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The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
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and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
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## [0.3.14] — 2026-07-15
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### Fixed
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- `enable_freedrive` uses current TCP pose as center for constrained modes (XYZ, ROTATION) instead of `[0,0,0,0,0,0]` — prevents IK failure when robot is far from base origin
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- `enable_freedrive` captures ur_rtde stderr to surface robot errors in CLI instead of generic "returned false"
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- `move_sequence` replaced `Path`/`movePath` API with individual `moveL`/`moveJ` calls — `blend_radius` now ignored
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- `move_until_contact` accepts individual `speed_x/y/z/rx/ry/rz` keyword params alongside `speed_vector`
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### Changed
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- Moved inline imports to top of file (`RtdeRegisterConflictError`, `resolve_config`) — only optional/circular imports remain inline with justification
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## [0.3.13] — 2026-07-14
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### Fixed

‎README.md‎

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robot.move_relative([0, 0.01, 0, 0, 0, 0])
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```
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#### Sequences with Blending
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#### Sequences
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```python
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# Chain multiple moves into one call
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robot.move_sequence(["a", "b", "c"])
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robot.move_sequence(["a", "b", "c"], blend_radius=0.02)
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```
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#### Contact Detection
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```python
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# Zeros FT sensor automatically, then moves until force exceeds threshold
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robot.move_until_contact([0, 0, -0.02, 0, 0, 0])
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# Move straight down until contact (zeros FT sensor automatically)
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robot.move_until_contact(speed_z=-0.02)
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# Custom threshold (default: 5.0 N/Nm)
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robot.move_until_contact([0, 0, -0.02, 0, 0, 0], threshold=10.0)
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robot.move_until_contact(speed_z=-0.02, threshold=10.0)
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# Skip zeroing if you need absolute force values
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robot.move_until_contact([0, 0, -0.02, 0, 0, 0], zero_first=False)
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robot.move_until_contact(speed_z=-0.02, zero_first=False)
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# Full speed vector
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robot.move_until_contact([0, 0, -0.02, 0, 0, 0])
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# Manual zero (e.g. before custom force-based logic)
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robot.zero_ft_sensor()

‎_demo/1_connect.py‎

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#!/usr/bin/env python3
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"""Demo 1: Connect and move to home — 2 lines of code."""
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from urkit import URRobot
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robot = URRobot.from_config("config.yaml")
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robot.move_to("home", linear=False)
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print("At home!")

‎_demo/2_pick_place.py‎

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#!/usr/bin/env python3
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"""
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Demo 2: Complete pick-and-place cycle
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Full cycle:
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1. Pick object from pick location
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2. Place it at place location
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3. Return home
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4. Pick it back up from place location
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5. Bring it back to original pick location
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Shows the proper approach pattern with Z offsets to avoid collisions.
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"""
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from urkit import URRobot
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robot = URRobot.from_config("config.yaml")
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robot.gripper.activate()
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print("Moving to home...")
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robot.move_to("home")
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# --- PICK ---
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print("\n--- PICK ---")
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print("Approaching pick (5cm above)...")
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robot.move_to("pick", offset_z=0.05)
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print("At pick position...")
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robot.move_to("pick")
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print("Closing gripper...")
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robot.gripper.close()
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print("Retracting...")
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robot.move_to("pick", offset_z=0.05)
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# --- PLACE ---
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print("\n--- PLACE ---")
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print("Approaching place (5cm above)...")
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robot.move_to("place", offset_z=0.05)
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print("At place position...")
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robot.move_to("place")
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print("Opening gripper...")
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robot.gripper.open()
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print("Retracting...")
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robot.move_to("place", offset_z=0.05)
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# --- RETURN HOME ---
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print("\nMoving to home...")
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robot.move_to("home")
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# --- PICK BACK UP ---
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print("\n--- PICK BACK UP ---")
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print("Approaching place (5cm above)...")
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robot.move_to("place", offset_z=0.05)
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print("At pick position...")
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robot.move_to("place")
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print("Closing gripper...")
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robot.gripper.close()
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print("Retracting...")
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robot.move_to("place", offset_z=0.05)
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# --- BRING BACK ---
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print("\n--- BRING BACK ---")
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print("Approaching pick (5cm above)...")
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robot.move_to("pick", offset_z=0.05)
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print("At place position...")
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robot.move_to("pick")
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print("Opening gripper...")
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robot.gripper.open()
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print("Retracting...")
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robot.move_to("pick", offset_z=0.05)
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# --- DONE ---
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print("\nMoving to home...")
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robot.move_to("home")
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print("\nDone! Full cycle complete.")

‎_demo/3_advanced.py‎

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#!/usr/bin/env python3
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"""
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Demo 3: Full cycle with approach points and sequences
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Same pick-and-place as demo 2 but using:
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- get_pose() — resolve named points with offsets
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- move_sequence() — chain moves into one call
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- get_tcp_pose() — live telemetry
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"""
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from urkit import URRobot
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robot = URRobot.from_config("config.yaml")
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print("Moving to home...")
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robot.move_to("home")
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print("Activating gripper...")
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robot.gripper.activate()
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robot.gripper.open()
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# --- Resolve approach points with offsets ---
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pick_above = robot.get_pose("pick", offset_z=0.05)
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place_above = robot.get_pose("place", offset_z=0.05)
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# --- PICK ---
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print("\n--- PICK ---")
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robot.move_sequence(["home", pick_above, "pick"])
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print("Closing gripper...")
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robot.gripper.close()
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# --- PLACE ---
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print("\n--- PLACE ---")
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robot.move_sequence([pick_above, place_above, "place"])
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tcp = robot.get_tcp_pose()
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print(f"TCP at place: [{tcp[0]:.3f}, {tcp[1]:.3f}, {tcp[2]:.3f}]")
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print("Opening gripper...")
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robot.gripper.open()
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# --- RETURN HOME ---
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print("\nMoving to home...")
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robot.move_sequence([place_above, "home"])
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# --- PICK BACK UP ---
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print("\n--- PICK BACK UP ---")
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robot.move_sequence(["home", place_above, "place"])
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print("Closing gripper...")
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robot.gripper.close()
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# --- BRING BACK ---
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print("\n--- BRING BACK ---")
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robot.move_sequence([place_above, pick_above, "pick"])
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print("Opening gripper...")
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robot.gripper.open()
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# --- DONE ---
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print("\nMoving to home...")
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robot.move_sequence([pick_above, "home"])
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print("\nDone! Full cycle complete.")

‎_demo/4_force_contact.py‎

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#!/usr/bin/env python3
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"""
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Demo 6: Force-based contact detection
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Shows the robot approaching a surface and stopping on contact.
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move_until_contact zeros the FT sensor automatically.
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Teach panel prep:
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- Point "home" taught — positioned above a flat surface (table, workpiece)
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with clear path downward to the surface.
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"""
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from urkit import URRobot
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robot = URRobot.from_config("config.yaml")
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print("Moving to home...")
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robot.move_to("home")
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start_pose = robot.get_tcp_pose()
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print(f"Starting Z: {start_pose[2] * 100:.1f} cm")
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print("\nMoving down until contact (5N threshold)...")
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print("Watch the robot stop when it touches the surface.\n")
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# Moves 2cm/s downward, stops when force exceeds 5N.
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# Zeros the FT sensor automatically before starting.
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robot.move_until_contact(speed_z=-0.02, threshold=5.0)
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contact_pose = robot.get_tcp_pose()
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delta_cm = abs((contact_pose[2] - start_pose[2]) * 100)
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print(f"\nContact detected after moving {delta_cm:.1f} cm down")
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print(f"Table surface is at Z = {contact_pose[2] * 100:.1f} cm")
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print("\nRetreating 5cm...")
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robot.move_relative(delta_z=0.05)
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print("\nMoving to home...")
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robot.move_to("home")
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print("\nDone! The robot adapted to the surface position.")

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