adeck/python-urx-getl-rt
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Olivier R-D 2013-03-23 09:35:50 +01:00
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High level driver to control a Universal Robot robot from python through its TCP/IP interface urx is a python library to control a robot from 'Universal robot'.
urx.py is the main file in this repository. It is a python library to control an UR robot from python. Internally it uses URSCript. 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 urx can optionally use the python-math3d https://launchpad.net/pymath3d library to receive and send transformation matrices to the robot
ursecmon.py is a parser for the binary data from the UR
urrtmon.py is a parser for the "real-time" interface of the robot. It is hardcoded for some controller versions and therefore disabled by default
This program is free software: you can redistribute it and/or modify This program is free software: you can redistribute it and/or modify