feat(ur): complete RTDE driver with blocking motion and full telemetry#61
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MGross21
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Apr 17, 2026
MGross21
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- Block move_joints/move_cartesian via output_int_registers_0; URScript bookends each command with write_output_integer_register(0,0/1) and RTDE polls for completion. Eliminates post-exit motion
- Call stop_motion() in disconnect() to halt on any clean exit
- Add codes.py with RobotMode, SafetyMode, RuntimeState IntEnums
- Expand config.xml: velocity, target pose/speed, I/O, state fields, input recipe for speed slider and digital/analog output writes
- Add get/set methods for all new telemetry in UniversalRobots
- Fix sleep() to block Python side, not just controller side
- Fix ImportError message spacing in RTDE.init
- Block move_joints/move_cartesian via output_int_registers_0; URScript bookends each command with write_output_integer_register(0,0/1) and RTDE polls for completion — eliminates post-exit motion - Call stop_motion() in disconnect() to halt on any clean exit - Add codes.py with RobotMode, SafetyMode, RuntimeState IntEnums - Expand config.xml: velocity, target pose/speed, I/O, state fields, input recipe for speed slider and digital/analog output writes - Add get/set methods for all new telemetry in UniversalRobots - Fix sleep() to block Python side, not just controller side - Fix ImportError message spacing in RTDE.__init__
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