feat: add 6/7 keys for gripper speed/force, display force/speed on Gripper line, fix points_path for explorer

Author: rodolfo-verde

CHANGELOG.md

@@ -5,13 +5,20 @@ 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).
 
-## [3.1] — 2026-07-03
+## [3.2] — 2026-07-03
+
+### Added
+- `6`/`7` keys for gripper speed/force (prompt-based, Robotiq only)
+- Force/speed display on Gripper line (`F=100 S=100`)
+- Force/speed applied before each gripper operation (rq_set_force/rq_set_speed)
 
 ### Fixed
 - Missing `points_path` argument in `_submenu_explore_points` (P key crash)
 - Redundant inline import of `load_config` in teach pendant
 - Redundant Enter key handler in points explorer (auto-refreshes every 2s)
 
+## [3.1] — 2026-07-03
+
 ## [0.3.0] — 2026-06-19
 
 ### Added

README.md

@@ -165,6 +165,7 @@ 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>
       </table>
     </td>
     <td align="center" style="width:33%">

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "3.1"
+version = "3.2"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

src/urkit/__init__.py

@@ -24,7 +24,7 @@
 
 from __future__ import annotations
 
-__version__ = "3.1"
+__version__ = "3.2"
 
 from urkit.config import load_config, resolve_config
 from urkit.exceptions import (

src/urkit/cli/teach.py

@@ -305,11 +305,16 @@ def _draw_screen(
     if robot.gripper:
         pos_mm = robot.gripper.get_position_mm()
         max_mm = robot.gripper.max_travel_mm()
+        extra = ""
+        if hasattr(robot.gripper, '_force'):
+            extra += f" F={robot.gripper._force}"
+        if hasattr(robot.gripper, '_speed'):
+            extra += f" S={robot.gripper._speed}"
         if pos_mm is not None and max_mm is not None and max_mm > 0:
             pct = int((max_mm - pos_mm) / max_mm * 100)
-            gripper_state = f"{green('Connected')} {pos_mm:.1f}mm ({pct}%)"
+            gripper_state = f"{green('Connected')} {pos_mm:.1f}mm ({pct}%)" + extra
         else:
-            gripper_state = green("Connected")
+            gripper_state = f"{green('Connected')}" + extra
 
     lines: list[str] = []
 
@@ -845,7 +850,7 @@ def _submenu_explore_points(robot: URRobot, messages: list[str]) -> None:
         config = load_config()
         points_path = config.get("points_path") if config else None
         if points_path:
-            points_path = Path(points_path).resolve()
+            points_path = Path(str(points_path)).resolve()  # type: ignore[arg-type]
         else:
             points_path = Path("points.db").resolve()
 

src/urkit/gripper/robotiq.py

@@ -103,6 +103,7 @@ def _build_script(self, function_call: str) -> str:
         The preamble defines all ``rq_*`` functions and initializes
         socket state.  Two config lines override the mm range for
         the current gripper model before the function executes.
+        Force and speed are set before each operation.
 
         Args:
             function_call: A preamble function call (e.g. ``rq_open_and_wait()``).
@@ -114,6 +115,8 @@ def _build_script(self, function_call: str) -> str:
             ROBOTIQ_PREAMBLE
             + "set_closed_mm(0.0, 1)\n"
             + f"set_open_mm({self._max_mm}.0, 1)\n"
+            + f"rq_set_force({self._force}, 1)\n"
+            + f"rq_set_speed({self._speed}, 1)\n"
             + f"{function_call}\n"
         )