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.. toctree::
   :maxdepth: 2

UR-Sockets:

Documentation Status

Testing and working with socket connections to the UR

What is Provided:

For Python Import:

ur_cb2   Provides high level access to basic UR Robot interfacing
  receive Provides low level access to allow receiving data from a UR CB2
  send Provides low level access to allow sending data to a UR CB2

For Command Line Usage:

View live status of robot: >>>cb2-listen

Save points from robot for future use: >>>cb2-record

Play back previously recorded points: >>>cb2-play

Examples:

cb2_robot_example.py:An example script which will move a robot around. You should be careful about running this before ensuring that it will not lead to a crash
send/cb2_send_example.py:An example script which will send movement commands to the robot. You should be careful about running this before ensuring that it will not lead to a crash
receive/cb2_receive_example.py:An example script which will receive data from the robot. This is exposed on the command line.

How To Setup:

  1. Install the packages: python setup.py install or pip install ur_cb2
  2. Go to the home screen of PolyScope
  3. Click on SETUP Robot
  4. Click on Setup NETWORK
  5. Set the IP address, subnet mask, and default gateway to something intelligent, which matches the network on which the robot will be operating
  6. Plug in the network cables.
  7. Rock and roll (it is recommended to test by running cb2-listen from the command line)
  8. Once everything is setup, you can import by: import ur_cb2, import ur_cb2.receive, and import ur_cb2.send

Useful Notes:

  1. The cartesian position is returned as [x,y,z,<rotation vector>] where <rotation vector> is a three element vector representing the an axis about which to rotate (<x,y,z>) in radians equal to the magnitude of the vector.

License:

The MIT License (MIT)

Copyright (c) 2016 GTRC.

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.