Fix Dependencies. Update Packages and Metadata

.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
+          uv sync --locked --all-groups --dry-run

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

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")

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 = "[email protected]" }]
 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"