From 0c309a99dd4a9a77023dd59d8459c4c4fc5c7e77 Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier@dummy.com>
Date: Sat, 23 Mar 2013 09:46:56 +0100
Subject: [PATCH] move example use to README file

---
 README     | 50 ++++++++++++++++++++++++++++++++++++++++++++++++++
 urx/urx.py | 47 -----------------------------------------------
 2 files changed, 50 insertions(+), 47 deletions(-)

diff --git a/README b/README
index e2edcf5..6cbe030 100644
--- a/README
+++ b/README
@@ -1,6 +1,56 @@
 urx is a python library to control a robot from 'Universal robot'.
 Internally, to control the robots, urx uses both the 'secondary port' interface and the real-time/matlab interface. 
 urx can optionally use the python-math3d https://launchpad.net/pymath3d library to receive and send transformation matrices to the robot
+Example use:
+
+import urx
+
+rob = urx.robot("192.168.0.100")
+rob.set_tcp((x=01, z=0.232))
+rob.movej((1,2,3,4,5,6), a, v) # move in robot internal coordinate system
+rob.movel((x,y,z,a,b,c), a, v)
+print "Current tool pose is: ",  rob.getl()
+rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)# move relative to current pose
+rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
+rob.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position
+rob.stopj(a)
+
+robot.movel(x,y,z,a,b,c), wait=False)
+while True :
+    sleep(0.1) #sleep first since the information may be outdated
+    if robot.is_program_running():
+        break
+
+robot.movel(x,y,z,a,b,c), wait=False)
+while.robot.getForce() < 50:
+    sleep(0.01)
+robot.stopl()
+
+try:
+    robot.movel((0,0,0.1,0,0,0), relative=True)
+except RobotError, ex:
+    print "Robot could not execute move (emergency stop for example), do something", ex
+
+Using matrices:
+
+robot = Robot("192.168.1.1")
+robot.set_tcp((0,0,0.23,0,0,0)
+calib = mathd3d.Transform() 
+calib.orient.rotate_zb(pi/4) #just an example
+robot.set_calibration_matrix(calib) #set robot corrdinate system
+
+trans = robot.get_transform() # get current transformation matrix (tool to base)
+trans.orient.rotate_yt(pi/2)
+robot.apply_transform(trans)
+trans.pos += math3d.Vector(0,0,0.3)
+robot.apply_transform(trans)
+
+
+#or only work with orientation part
+o = robot.get_orientation()
+o.rotate_yb(pi)
+robot.orient(o)
+
 
 
    This program is free software: you can redistribute it and/or modify
diff --git a/urx/urx.py b/urx/urx.py
index 3c92496..4dd3630 100644
--- a/urx/urx.py
+++ b/urx/urx.py
@@ -1,52 +1,5 @@
 """
 Python library to control an UR robot through its TCP/IP interface
-
-import urx
-
-rob = urx.robot(192.168.0.100)
-rob.set_tcp((x=01, z=0.232))
-rob.movej((1,2,3,4,5,6), a, v)
-rob.movel((x,y,z,a,b,c), a, v)
-print "Current tool pose is: ",  rob.getl()
-rob.movelrel((0.1, 0, 0, 0, 0, 0), a, v)
-rob.stopj(a)
-
-robot.movel(x,y,z,a,b,c), wait=False)
-while True :
-    sleep(0.1) #sleep first since the information may be outdated
-    if robot.isProgramRunning():
-        break
-
-robot.movel(x,y,z,a,b,c), wait=False)
-while.robot.getForce() < 50:
-    sleep(0.01)
-robot.stopl()
-
-try:
-    robot.movelrel(0,0,0.1,0,0,0)
-except RobotError, ex:
-    print "Robot could not execute move (emergency stop for example), do somethhing", ex
-
-Using matrices:
-
-robot = Robot("192.168.1.1")
-robot.set_tcp((0,0,0.23,0,0,0)
-calib = mathd3d.Transform() 
-calib.orient.rotate_zb(pi/4) #just an example
-robot.set_calibration_matrix(calib)
-
-trans = robot.get_transform() # get current transformation matrix (tool to base)
-trans.orient.rotate_yt(pi/2)
-robot.apply_transform(trans)
-trans.pos += math3d.Vector(0,0,0.3)
-robot.apply_transform(trans)
-
-
-#or only work with orientation part
-o = robot.get_orientation()
-o.rotate_yb(pi)
-robot.orient(o)
-
 DOC LINK
 http://support.universal-robots.com/URRobot/RemoteAccess
 """