From c6e3d5dfa6ef787d3b998d77dfd090061f2c1386 Mon Sep 17 00:00:00 2001 From: Jonathan Herbert Date: Tue, 24 Jul 2018 09:52:50 -0400 Subject: [PATCH 1/2] Fixing README.md Markdown --- README.md | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index c7a7b22..b40333b 100644 --- a/README.md +++ b/README.md @@ -1,9 +1,9 @@ -urx is a python library to control the robots from 'Universal robot'. It is published under the LGPL license and comes with absolutely no guarantee. +urx is a python library to control the robots from 'Universal Robots'. It is published under the LGPL license and comes with absolutely no guarantee. 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 control frequency. -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://github.com/mortlind/pymath3d)(GPL) 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://github.com/mortlind/pymath3d)(GPL) 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](https://github.com/oroulet) for [Sintef Raufoss Manufacturing](http://www.sintef.no/manufacturing/). @@ -23,7 +23,7 @@ rob = urx.Robot("192.168.0.100") rob.set_tcp((0, 0, 0.1, 0, 0, 0)) rob.set_payload(2, (0, 0, 0.1)) sleep(0.2) #leave some time to robot to process the setup commands -rob.movej((1, 2, 3, 4, 5, 6), a, v) +rob.movej((1, 2, 3, 4, 5, 6), a, v) rob.movel((x, y, z, rx, ry, rz), 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 @@ -75,7 +75,7 @@ o.rotate_yb(pi) robot.set_orientation(o) ``` -#O ther interactive methods/properties +# Other interactive methods/properties ```python @@ -95,7 +95,7 @@ rob.set_csys(csys) 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: +## Example use: ```python import sys From f3b1e3d505475d139197b5361be8c73d2eabeda0 Mon Sep 17 00:00:00 2001 From: Jonathan Herbert Date: Tue, 24 Jul 2018 10:31:52 -0400 Subject: [PATCH 2/2] Add link to Universal Robots --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index b40333b..15494a5 100644 --- a/README.md +++ b/README.md @@ -1,5 +1,5 @@ -urx is a python library to control the robots from 'Universal Robots'. It is published under the LGPL license and comes with absolutely no guarantee. +urx is a python library to control the robots from [Universal Robots](https://www.universal-robots.com/). It is published under the LGPL license and comes with absolutely no guarantee. 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 control frequency.