High level driver to control a Universal Robot robot from python through its TCP/IP interface
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.
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
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    This program is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with this program.  If not, see <http://www.gnu.org/licenses/>.