adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Updating README syntax to MD

Browse Source
This commit is contained in:
Mark Silliman 2016-04-26 10:53:25 -07:00
parent 7cb82c2636
commit 47a6be4605
1 changed files with 12 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

27
README.md
View File

@ -1,23 +1,15 @@
urx is a python library to control a robot from 'Universal robot'.
It is published under the GPL license and comes with absolutely no
guarantee, althoug it has been used in many application with several
version of UR5 and UR10 robots.
urx is a python library to control a robot from 'Universal robot'. It is published under the GPL license and comes with absolutely no guarantee, althoug it has been used in many application with several version of UR5 and UR10 robots.
It is meant as an easy to use module for pick and place operations,
although it has been used for welding and other sensor based applications
that do not require high update rate.
It is meant as an easy to use module for pick and place operations, although it has been used for welding and other sensor based applications that do not require high update rate.
Both the 'secondary port' interface and the real-time/matlab interface of the
UR controller are used. urx can optionally use the python-math3d
https://launchpad.net/pymath3d library to receive and send transformation
matrices to the robot urx is known to work with all release robots from Universal Robot.
Both the 'secondary port' interface and the real-time/matlab interface of the UR controller are used. urx can optionally use the [python-math3d](https://launchpad.net/pymath3d) library to receive and send transformation matrices to the robot urx is known to work with all release robots from Universal Robot.
urx was primarily developed by Olivier Roulet-Dubonnet for Sintef Raufoss Manufacturing
and : http://www.sintef.no/manufacturing/
urx was primarily developed by [Olivier Roulet-Dubonnet](https://github.com/oroulet) for [Sintef Raufoss Manufacturing](http://www.sintef.no/manufacturing/)
#Example use:
```python
import urx
rob = urx.robot("192.168.0.100")
@ -47,9 +39,11 @@ 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
```
#Development using Transform objects from math3d library:
```python
robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0)
robot.csys.orient.rotate_zb(pi/4) #just an example
@ -64,13 +58,15 @@ robot.set_pose(trans)
o = robot.get_orientation()
o.rotate_yb(pi)
robot.set_orientation(o)
```
#Robotiq Gripper
urx can also control a Robotiq gripper attached to the UR robot.
urx can also control a Robotiq gripper attached to the UR robot. The robotiq class was primarily developed by [Mark Silliman](https://github.com/markwsilliman).
##Example use:
```python
import sys
import urx
from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
@ -92,4 +88,5 @@ if __name__ == '__main__':
rob.close()
print "true"
sys.exit()
sys.exit()
```