bump version to 0.3.24

Author: rodolfo-verde

pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "setuptools.build_meta"
 
 [project]
 name = "urkit"
-version = "0.3.23"
+version = "0.3.24"
 description = "Universal Robots e-Series control toolkit built on ur_rtde"
 readme = "README.md"
 license = {text = "MIT"}

src/urkit/motion.py

@@ -408,10 +408,11 @@ def move_until_contact(
                     t_start = self._rtde_c.initPeriod()
                     self._rtde_c.speedL(speed_vector, acceleration, 0.002)
 
-                # Check force/torque for contact
+                # Check force/torque for contact — only on moving axes
                 current = list(self._rtde_r.getActualTCPForce())
+                moving_axes = [i for i in range(6) if abs(speed_vector[i]) > 0]
                 if any(
-                    abs(current[i] - baseline[i]) > threshold for i in range(6)
+                    abs(current[i] - baseline[i]) > threshold for i in moving_axes
                 ):
                     contact_detected = True
                     break