diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 09ec859..4b098c4 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -39,7 +39,7 @@ jobs:
 
       - name: Install dependencies
         run: |
-          uv sync --locked --all-extras --all-groups
+          uv sync --locked --all-groups
 
       - name: Clear all caches and compiled files
         run: |
@@ -55,6 +55,8 @@ jobs:
         env:
           NO_COLOR: "1"
           PYTHONDONTWRITEBYTECODE: "1"
+          PYTHONOPTIMIZE: "2"
+          UV_COMPILE_BYTECODE: "0"
         run: |
           uv run pytest tests --maxfail=1 --disable-warnings --tb=short -v
 
@@ -77,4 +79,4 @@ jobs:
       
       - name: Check if uv.lock is up to date
         run: |
-          uv sync --locked --all-extras --all-groups --dry-run
\ No newline at end of file
+          uv sync --locked --all-groups --dry-run
\ No newline at end of file
diff --git a/README.md b/README.md
index 09ef2fe..f5a1696 100644
--- a/README.md
+++ b/README.md
@@ -64,6 +64,11 @@ The `armctl` library currently supports the following manufacturers and robot mo
 pip install armctl
 ```
 
+> **Note:** Universal Robots (UR) support requires the optional extra:
+> ```bash
+> pip install armctl[ur]
+> ```
+
 *From GitHub:*
 
 ```bash
diff --git a/armctl/universal_robots/protocols/rtde.py b/armctl/universal_robots/protocols/rtde.py
index 972bba2..e9167ac 100644
--- a/armctl/universal_robots/protocols/rtde.py
+++ b/armctl/universal_robots/protocols/rtde.py
@@ -2,16 +2,26 @@
 
 from pathlib import Path
 from typing import NewType
-
-from rtde import RTDE as _RTDE
-from rtde.rtde_config import ConfigFile
 from ctypes import c_uint32
 
+try:
+    from rtde import RTDE as _RTDE
+    from rtde.rtde_config import ConfigFile
+except ImportError:
+    _RTDE = None
+    ConfigFile = None
+
 u32 = NewType("u32", c_uint32)
 
 
 class RTDE:
     def __init__(self, ip: str):
+        if _RTDE is None or ConfigFile is None:
+            raise ImportError(
+                "Universal Robots RTDE support requires additional dependencies."
+                "Install it with: pip install armctl[ur]"
+            )
+
         config_file = Path(__file__).parent / "config.xml"
         config = ConfigFile(str(config_file))
         state_names, state_types = config.get_recipe("out")
diff --git a/pyproject.toml b/pyproject.toml
index 8a30b8b..bfe7f4f 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,5 +1,5 @@
 [build-system]
-requires = ["uv_build>=0.10.0,<0.11.0"]
+requires = ["uv_build>=0.11.2,<0.12"]
 build-backend = "uv_build"
 
 [tool.uv.build-backend]
@@ -15,24 +15,27 @@ version = "0.4.0"
 description = "Agnostic Robotic Manipulation Controller (armctl)"
 authors = [{ name = "Michael Gross", email = "MGross21@users.noreply.github.com" }]
 readme = {file = "README.md", content-type = "text/markdown"}
-license = { file = "LICENSE" }
+license = "MIT"
 keywords = ["robotics", "socket", "control", "automation", "ur", "universal robotics", "jaka", "dobot", "elephant robotics", "vention", "fanuc"]
+license-files = ["LICENSE"]
 classifiers = [
     "Programming Language :: Python :: 3",
-    "License :: OSI Approved :: MIT License",
     "Operating System :: OS Independent",
     "Development Status :: 4 - Beta"
 
 ]
-requires-python = ">=3.6"
+requires-python = ">=3.7"
 dependencies = [
-    # "urrtde @ git+https://github.com/UniversalRobots/RTDE_Python_Client_Library.git@main"
-    "urrtde",
     "typer>=0.9.0",
     "pyserial>=3.5",
     "zaber-motion>=2.13.1",
 ]
 
+[project.optional-dependencies]
+ur = [
+    "urrtde @ git+https://github.com/UniversalRobots/RTDE_Python_Client_Library.git@main"
+]
+
 [project.urls]
 Homepage = "https://github.com/MGross21/armctl"
 Issues = "https://github.com/MGross21/armctl/issues"
diff --git a/uv.lock b/uv.lock
index 29758b2..3dbdd65 100644
--- a/uv.lock
+++ b/uv.lock
@@ -1,14 +1,12 @@
 version = 1
 revision = 3
-requires-python = ">=3.6"
+requires-python = ">=3.7"
 resolution-markers = [
     "python_full_version >= '3.11'",
     "python_full_version == '3.10.*'",
     "python_full_version == '3.9.*'",
     "python_full_version == '3.8.*'",
-    "python_full_version == '3.7.*'",
-    "python_full_version >= '3.6.8' and python_full_version < '3.7'",
-    "python_full_version < '3.6.8'",
+    "python_full_version < '3.8'",
 ]
 
 [[package]]
@@ -26,52 +24,51 @@ version = "0.4.0"
 source = { editable = "." }
 dependencies = [
     { name = "pyserial" },
-    { name = "typer", version = "0.10.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-    { name = "typer", version = "0.19.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
+    { name = "typer", version = "0.19.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.8'" },
     { name = "typer", version = "0.20.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.8.*'" },
     { name = "typer", version = "0.23.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.9.*'" },
     { name = "typer", version = "0.24.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.10'" },
+    { name = "zaber-motion", version = "3.4.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.8'" },
+    { name = "zaber-motion", version = "9.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.8'" },
+]
+
+[package.optional-dependencies]
+ur = [
     { name = "urrtde" },
-    { name = "zaber-motion", version = "2.13.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-    { name = "zaber-motion", version = "3.4.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
-    { name = "zaber-motion", version = "8.3.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.8'" },
 ]
 
 [package.dev-dependencies]
 dev = [
-    { name = "pytest", version = "7.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-    { name = "pytest", version = "7.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
+    { name = "pytest", version = "7.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.8'" },
     { name = "pytest", version = "8.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.8.*'" },
     { name = "pytest", version = "8.4.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.9.*'" },
     { name = "pytest", version = "9.0.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.10'" },
-    { name = "pytest-cov", version = "4.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-    { name = "pytest-cov", version = "4.1.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
+    { name = "pytest-cov", version = "4.1.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.8'" },
     { name = "pytest-cov", version = "5.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.8.*'" },
-    { name = "pytest-cov", version = "7.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.9'" },
+    { name = "pytest-cov", version = "7.1.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.9'" },
     { name = "ruff", marker = "python_full_version >= '3.11'" },
 ]
 format = [
     { name = "ruff", marker = "python_full_version >= '3.11'" },
 ]
 test = [
-    { name = "pytest", version = "7.0.1", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-    { name = "pytest", version = "7.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
+    { name = "pytest", version = "7.4.4", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.8'" },
     { name = "pytest", version = "8.3.5", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.8.*'" },
     { name = "pytest", version = "8.4.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.9.*'" },
     { name = "pytest", version = "9.0.2", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.10'" },
-    { name = "pytest-cov", version = "4.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-    { name = "pytest-cov", version = "4.1.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
+    { name = "pytest-cov", version = "4.1.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.8'" },
     { name = "pytest-cov", version = "5.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.8.*'" },
-    { name = "pytest-cov", version = "7.0.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.9'" },
+    { name = "pytest-cov", version = "7.1.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version >= '3.9'" },
 ]
 
 [package.metadata]
 requires-dist = [
     { name = "pyserial", specifier = ">=3.5" },
     { name = "typer", specifier = ">=0.9.0" },
-    { name = "urrtde", git = "https://github.com/UniversalRobots/RTDE_Python_Client_Library.git?rev=main" },
+    { name = "urrtde", marker = "extra == 'ur'", git = "https://github.com/UniversalRobots/RTDE_Python_Client_Library.git?rev=main" },
     { name = "zaber-motion", specifier = ">=2.13.1" },
 ]
+provides-extras = ["ur"]
 
 [package.metadata.requires-dev]
 dev = [
@@ -85,38 +82,6 @@ test = [
     { name = "pytest-cov", specifier = ">=3.0.0" },
 ]
 
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-version = "1.4.1"
-source = { registry = "https://pypi.org/simple" }
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-
-[[package]]
-name = "attrs"
-version = "22.2.0"
-source = { registry = "https://pypi.org/simple" }
-sdist = { url = "https://files.pythonhosted.org/packages/21/31/3f468da74c7de4fcf9b25591e682856389b3400b4b62f201e65f15ea3e07/attrs-22.2.0.tar.gz", hash = "sha256:c9227bfc2f01993c03f68db37d1d15c9690188323c067c641f1a35ca58185f99", size = 215900, upload-time = "2022-12-21T09:48:51.773Z" }
-wheels = [
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-]
-
-[[package]]
-name = "click"
-version = "8.0.4"
-source = { registry = "https://pypi.org/simple" }
-resolution-markers = [
-    "python_full_version >= '3.6.8' and python_full_version < '3.7'",
-    "python_full_version < '3.6.8'",
-]
-dependencies = [
-    { name = "colorama", marker = "python_full_version < '3.7' and sys_platform == 'win32'" },
-    { name = "importlib-metadata", version = "4.8.3", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version < '3.7'" },
-]
-sdist = { url = "https://files.pythonhosted.org/packages/dd/cf/706c1ad49ab26abed0b77a2f867984c1341ed7387b8030a6aa914e2942a0/click-8.0.4.tar.gz", hash = "sha256:8458d7b1287c5fb128c90e23381cf99dcde74beaf6c7ff6384ce84d6fe090adb", size = 329520, upload-time = "2022-02-18T20:31:30.105Z" }
-wheels = [
-    { url = "https://files.pythonhosted.org/packages/4a/a8/0b2ced25639fb20cc1c9784de90a8c25f9504a7f18cd8b5397bd61696d7d/click-8.0.4-py3-none-any.whl", hash = "sha256:6a7a62563bbfabfda3a38f3023a1db4a35978c0abd76f6c9605ecd6554d6d9b1", size = 97486, upload-time = "2022-02-18T20:31:27.733Z" },
-]
-
 [[package]]
 name = "click"
 version = "8.1.8"
@@ -124,11 +89,11 @@ source = { registry = "https://pypi.org/simple" }
 resolution-markers = [
     "python_full_version == '3.9.*'",
     "python_full_version == '3.8.*'",
-    "python_full_version == '3.7.*'",
+    "python_full_version < '3.8'",
 ]
 dependencies = [
-    { name = "colorama", marker = "python_full_version >= '3.7' and python_full_version < '3.10' and sys_platform == 'win32'" },
-    { name = "importlib-metadata", version = "6.7.0", source = { registry = "https://pypi.org/simple" }, marker = "python_full_version == '3.7.*'" },
+    { name = "colorama", marker = "python_full_version < '3.10' and sys_platform == 'win32'" },
+    { name = "importlib-metadata", marker = "python_full_version < '3.8'" },
 ]
 sdist = { url = "https://files.pythonhosted.org/packages/b9/2e/0090cbf739cee7d23781ad4b89a9894a41538e4fcf4c31dcdd705b78eb8b/click-8.1.8.tar.gz", hash = "sha256:ed53c9d8990d83c2a27deae68e4ee337473f6330c040a31d4225c9574d16096a", size = 226593, upload-time = "2024-12-21T18:38:44.339Z" }
 wheels = [
@@ -160,75 +125,12 @@ wheels = [
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-version = "6.2"
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