OpenUr 0.2.4

All in one package for complete control of your UR robot.

__author__ = "Beck Isakov"
__copyright__ = "Beck isakov"
__credits__ = "Martin Huus Bjerge"
__contact__ = "https://github.com/Jp-Beck"
__license__ = "GPL v3"
__version__ = "0.2.4"
__maintainer__ = "Beck Isakov"
__email__ = "[e-mail]"
__status__ = "Development"

For full documentation visit jp-beck.github.io.

Documentation Guide

Introduction

• Overview: This is the all in one package to control or get data from the Universal robots.
• Features:
  • Real Time Data Exchange RTDE fully implemented.
  • Dashboard.
  • URScript, send URScript commands to the robot and get the response.
  • Send and receive any data via Socket communication from the Robot.
  • XMLRPC communication with the robot. (allows you to outsource the CPU intensive tasks to the PC)
• Supported Versions/Platforms:
  • Python 3.6+ (will later support 2.7)
  • Universal Robots e-Series, tested on UR3e, UR5e, UR10e, UR16e
  • Windows, Linux, Mac OS X

Quick Start or Getting Started

1. pip install OpenUr - Install the latest version of OpenUr package.
2. openur make . - Create a new rtde_configuartion.xml file in your project directory to enable the use of RTDE.
3. import openur - Import the package in your project.
4. openur = OpenUR('ROBOT_IP_ADDRESS') - Connect to the robot and access all the features of the package via the openur object.
5. For example: openur.get_actual_tcp_pose() - Get the current TCP pose of the robot.

Installation Guide

• pip install OpenUr - Easiest way to install the package.
• Source Code - You can source it from the github repository.
• Docker - You can also use the docker image to run the package (In the future)

User Guide or Manual

• Getting Started in User Guide
• Refer to the Examples/Tutorials

API Reference

• This section will be update in the future.

Examples/Tutorials

• Step-by-step guides or use-case driven tutorials.
• Helps users understand real-world applications of your package.

FAQs

• Common questions or issues that users might encounter.

Troubleshooting

• Common issues, error messages, and their resolutions.
• Tips for diagnosing issues.

Contribution Guide

• Feel free to request pulls and collaborate.
• Please read the contribution guide before making pull requests.

Changelog or Release Notes

• Document the changes made in each release.

License

• Clearly state the license under which your software is released.

Contact/Support

• Provide information on how users can get support.

Glossary

• Technical terms or jargon used.

Project layout

    .
├── build
├── CHANGELOG
├── dist
├── docs
│   ├── examples.md
│   ├── glossary.md
│   ├── installation_guide.md
│   ├── migration_guide.md
│   ├── quick_start.md
│   ├── support.md
│   ├── troubleshooting.md
│   └── user_guide.md
├── LICENSE
├── MANIFEST.in
├── openur
│   ├── cli.py
│   ├── connections
│   │   ├── connection_state.py
│   │   ├── __init__.py
│   │   ├── realTimeClient.py
│   │   └── robotConnector.py
│   ├── dashboard
│   │   ├── dashboard.py
│   │   └── __init__.py
│   ├── __init__.py
│   ├── kinematics
│   │   ├── __init__.py
│   │   ├── kinematic.py
│   │   └── manipulation.py
│   ├── rtde
│   │   ├── csv_binary_writer.py
│   │   ├── csv_reader.py
│   │   ├── csv_writer.py
│   │   ├── __init__.py
│   │   ├── rtde_config.py
│   │   ├── rtde.py
│   │   └── serialize.py
│   ├── rtde_command
│   │   ├── __init__.py
│   │   ├── rtde_commands.py
│   │   └── rtde_connect.py
│   ├── urscript
│   │   ├── freedrive.py
│   │   ├── __init__.py
│   │   ├── script.txt
│   │   ├── urScriptExt.py
│   │   ├── urscript.py
│   │   └── urScript.py
│   └── utils
│       ├── dataLogging.py
│       ├── data_log.py
│       ├── dataLog.py
│       ├── __init__.py
│       └── logConfig.xml
├── openur.py
├── README.md
├── requirements.txt
├── rtde_configuration.xml # This file is created by the command `openur make .` and must have the name rtde_configuration.xml
├── setup.py
└── TODO.MD