diff --git a/urx/robot.py b/urx/robot.py
index 95fc3f3..6773650 100644
--- a/urx/robot.py
+++ b/urx/robot.py
@@ -365,11 +365,3 @@ class Robot(URRobot):
         t = m3d.Transform()
         t.orient.rotate_zb(val)
         self.add_pose_tool(t)
-
-
-
-
-
-
-
-
diff --git a/urx/urrobot.py b/urx/urrobot.py
index bc4bd4d..05444cf 100644
--- a/urx/urrobot.py
+++ b/urx/urrobot.py
@@ -42,7 +42,7 @@ class URRobot(object):
             self.rtmon = self.get_realtime_monitor()
         # precision of joint movem used to wait for move completion
         # the value must be conservative! otherwise we may wait forever
-        self.joinEpsilon = 0.01  
+        self.joinEpsilon = 0.01
         # It seems URScript is  limited in the character length of floats it accepts
         self.max_float_length = 6  # FIXME: check max length!!!
 
@@ -54,6 +54,12 @@ class URRobot(object):
     def __str__(self):
         return self.__repr__()
 
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        self.close()
+
     def is_running(self):
         """
         Return True if robot is running (not
@@ -235,8 +241,8 @@ class URRobot(object):
             dist += (target[i] - pose[i]) ** 2
         for i in range(3, 6):
             dist += ((target[i] - pose[i]) / 5) ** 2 # arbitraty length like
-        return dist ** 0.5 
-    
+        return dist ** 0.5
+
     def _get_joints_dist(self, target):
         joints = self.getj(wait=True)
         dist = 0
@@ -432,6 +438,3 @@ class URRobot(object):
         Move down in csys z
         """
         self.up(-z, acc, vel)
-
-
-
diff --git a/urx/urrtmon.py b/urx/urrtmon.py
index 5928df4..56fe77f 100644
--- a/urx/urrtmon.py
+++ b/urx/urrtmon.py
@@ -252,5 +252,3 @@ class URRTMonitor(threading.Thread):
         while not self._stop_event:
             self.__recv_rt_data()
         self._rtSock.close()
-
-