bump version to 0.3.10

Author: rodolfo-verde

CHANGELOG.md

@@ -5,6 +5,11 @@ All notable changes to this project will be documented in this file.
 The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.1.0/),
 and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
 
+## [0.3.10] — 2026-07-10
+
+### Fixed
+- RTDE connection retries once after boot (5s delay) — Secondary Interface may not be ready immediately after power-on + brake release
+
 ## [0.3.9] — 2026-07-10
 
 ### Fixed

pyproject.toml

@@ -4,11 +4,11 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.9"
+version = "0.3.10"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}
-requires-python = ">=3.8"
+requires-python = ">=3.10"
 authors = [
     {name = "URKit Contributors"},
 ]
@@ -44,10 +44,10 @@ classifiers = [
     "Topic :: Scientific/Engineering :: Human Machine Interfaces",
 ]
 dependencies = [
-    "ur_rtde>=1.4.0",
+    "ur_rtde>=1.6",
     "pyyaml>=6.0",
-    "colorama>=0.4.6",
-    "rich>=13.0.0",
+    "colorama>=0.4",
+    "rich>=15",
 ]
 
 [project.urls]

src/urkit/__init__.py

@@ -24,7 +24,7 @@
 
 from __future__ import annotations
 
-__version__ = "0.3.9"
+__version__ = "0.3.10"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

src/urkit/robot.py

@@ -188,11 +188,27 @@ def __init__(
                     "Continuing — RTDE connection may fail if a program is running."
                 )
 
-        # Connect RTDE
-        self._rtde_c, self._rtde_r, self._rtde_io = _connect_rtde(
-            ip,
-            frequency=self._rtde_frequency,
-        )
+        # Connect RTDE — retry after boot, the Secondary Interface may need
+        # extra time to accept connections even after the robot is IDLE.
+        rtde_attempts = 2 if boot_needed else 1
+        for attempt in range(1, rtde_attempts + 1):
+            try:
+                self._rtde_c, self._rtde_r, self._rtde_io = _connect_rtde(
+                    ip,
+                    frequency=self._rtde_frequency,
+                )
+                break
+            except Exception as e:
+                if attempt < rtde_attempts:
+                    logger.warning(
+                        "[URRobot] RTDE connection attempt %d failed: %s. "
+                        "Retrying in 5s...",
+                        attempt,
+                        e,
+                    )
+                    time.sleep(5)
+                else:
+                    raise
 
         # Initialize subsystems
         self._telemetry = Telemetry(self._rtde_r)