Bump to 0.3.2

- Update author email in project files  
- Enhance README with Python version and downloads badges, fix image URL  
- Add installation notice for Universal Robots RTDE library  
- Update optional dependencies in pyproject.toml  
- Remove UR RTDE package from poetry.lock and pyproject.toml (moved to dynamic install)  
- Refactor RTDE import and installation logic into scoped UR class

Author: MGross21

CITATION.cff

@@ -4,10 +4,10 @@ message: "If you use this software in your research, please cite it using the fo
 authors:
   - family-names: "Gross"
     given-names: "Michael"
-    email: "your@email.com"
-version: "0.3.0"
+    email: "[email protected].com"
+version: "0.3.2"
 date-released: "2025-03-09"
 license: "MIT"
 url: "https://github.com/MGross21/armctl"
 abstract: |
-  armctl is a Python library for controlling various robotic arms, providing utilities and templates for communication, motion, and integration with different robot brands.
+  armctl is a unified Python interface for controlling a variety of industrial and hobbyist robots from different manufacturers.

README.md

@@ -1,7 +1,14 @@
 <div align="center">
-    <h1><img src="assets/logo/armctl_logo_orange.png" alt="armctl" width="300px"></h1>
+    <h1><img src="https://raw.githubusercontent.com/MGross21/armctl/main/assets/logo/armctl_logo_orange.png" alt="armctl" width="300px"></h1>
 </div>
 
+<p align="center">
+  <!-- <img src="https://github.com/MGross21/armctl/actions/workflows/ci.yml/badge.svg" alt="Build Status"> -->
+  <img src="https://img.shields.io/badge/python-3-orange.svg" alt="Python Version">
+  <img src="https://img.shields.io/github/license/MGross21/armctl?color=orange" alt="License">
+  <a href="https://pypi.org/project/armctl/"><img src="https://static.pepy.tech/personalized-badge/armctl?period=total&left_color=gray&right_color=orange&left_text=downloads" alt="Downloads"></a>
+</p>
+
 A unified Python interface for controlling a variety of industrial and hobbyist robots from different manufacturers.
 
 ## Supported Manufacturers & Robot Series
@@ -30,22 +37,16 @@ The `armctl` library currently supports the following manufacturers and robot mo
 
 ### Installation
 
-```text
-pip install git+https://github.com/MGross21/armctl.git
-```
-
-#### Adding to Project Dependencies
-
-*`requirements.txt`*
+*From PyPI:*
 
-```text
-git+https://github.com/MGross21/armctl.git
+```bash
+pip install armctl
 ```
 
-*`pyproject.toml`*
+*From GitHub:*
 
-```toml
-armctl = {git = "https://github.com/MGross21/armctl.git"}
+```bash
+pip install git+https://github.com/MGross21/armctl.git
 ```
 
 ### Importing the Library
@@ -54,7 +55,7 @@ armctl = {git = "https://github.com/MGross21/armctl.git"}
 from armctl import *
 ```
 
-> [!NOTE]  
+> **Note:**  
 > For improved runtime performance and clarity, you may import specific manufacturers and robot series directly.
 
 ### Simple Example with Manufacturer Defaults
@@ -98,7 +99,7 @@ with (
     r2.move_joints([...])
 ```
 
-> [!TIP]  
+> **Tip:**  
 > For more precise and synchronous control of two or more robots, it is recommended to manage each robot within its own thread or process.
 
 #### Multithread Control
@@ -126,7 +127,7 @@ for t in threads:
 
 ## API Reference
 
-> [!NOTE]  
+> **Note:**  
 > The API has been designed for maximum compatibility across supported robots. Additional commands, such as gripper controls and other advanced features, are planned for future releases to further expand functionality.
 
 ### Control Template
@@ -226,3 +227,8 @@ Please feel free to submit a pull request or open an issue for any enhancements
 ## License
 
 This project is licensed under the MIT License. See the [LICENSE](https://github.com/MGross21/armctl/blob/main/LICENSE) file for more details.
+
+### Notice
+
+> This package automatically installs the [Universal Robots RTDE Python Client Library](https://github.com/UniversalRobots/RTDE_Python_Client_Library) when needed.  
+> The RTDE library is provided by Universal Robots and is subject to their licensing terms.

armctl/__init__.py

@@ -4,12 +4,6 @@
 
 A unified interface for controlling robotic arms from multiple manufacturers.
 
-Supported Manufacturers and Robots:
-- Elephant Robotics: myCobot Pro600 (Ethernet)
-- Universal Robots: UR3, UR5, UR5e, UR10, UR16 (Ethernet)
-    - Grippers: OnRobot (Ethernet)
-- Vention (Ethernet)
-- Jaka Robotics: Jaka (Ethernet)
 """
 
 # from .dobot import Dobot
@@ -40,7 +34,7 @@
     "Logger",
 ]
 
-__version__ = "0.3.0"
+__version__ = "0.3.2"
 
 class Logger:
     """Global logger utility for armctl."""

armctl/universal_robots/universal_robots.py

@@ -1,14 +1,36 @@
 from armctl.templates import Commands
 from armctl.templates import SocketController as SCT
 from armctl.templates.logger import logger
-from .protocols.rtde import RTDE
 
 import math
 from time import sleep as _sleep
 
-
 class UniversalRobots(SCT, Commands):
+    def _check_rtde(self):
+        try:
+            from .protocols.rtde import RTDE
+        except ImportError:
+            from subprocess import run
+            import sys
+
+            logger.warning(
+                "RTDE Python Client Library not found. Installing from GitHub..."
+            )
+            run(
+                [
+                    sys.executable,
+                    "-m",
+                    "pip",
+                    "install",
+                    "--quiet",
+                    "git+https://github.com/UniversalRobots/RTDE_Python_Client_Library.git@main",
+                ],
+                check=True,
+            )
+            from .protocols.rtde import RTDE
+
     def __init__(self, ip: str, port: int | tuple[int, int] = 30_002):
+        self._check_rtde()
         super().__init__(ip, port)
         self.JOINT_RANGES = [
             (-math.pi, math.pi),
@@ -26,6 +48,7 @@ def __init__(self, ip: str, port: int | tuple[int, int] = 30_002):
 
     def connect(self):
         super().connect()
+        from .protocols.rtde import RTDE
         self.rtde = RTDE(self.ip)  # Initialize RTDE connection
 
     def disconnect(self):

poetry.lock

@@ -4,9 +4,9 @@ build-backend = "poetry.core.masonry.api"
 
 [project]
 name = "armctl"
-version = "0.3.0"
-description = "Agnostic Robotic Manipulator Controller"
-authors = [{ name = "Michael Gross", email = "MGross21@TODO.com" }]
+version = "0.3.2"
+description = "Agnostic Robotic Manipulator Controller (armctl)"
+authors = [{ name = "Michael Gross", email = "MGross21@users.noreply.github.com" }]
 readme = {file = "README.md", content-type = "text/markdown"}
 license = { file = "LICENSE" }
 keywords = ["robotics", "socket", "control", "automation"]
@@ -22,7 +22,7 @@ Tracker = "https://github.com/MGross21/armctl/issues"
 
 [tool.poetry.dependencies]
 python = "^3.9"
-urrtde = {git = "https://github.com/UniversalRobots/RTDE_Python_Client_Library.git"}
+# urrtde = { git = "https://github.com/UniversalRobots/RTDE_Python_Client_Library.git", branch = "main" }
 
 [tool.poetry.urls]
 Homepage = "https://github.com/MGross21/armctl"
@@ -58,6 +58,6 @@ force_grid_wrap = 0
 use_parentheses = true
 
 [tool.mypy]
-python_version = 3.9
+python_version = "3.9"
 strict = true
 ignore_missing_imports = true