This is package for basic control of Universal Robots using inbuild intefaces like Dashboard, Realtime, RTDE. link to UR documentation: https://www.universal-robots.com/articles/ur/interface-communication/overview-of-client-interfaces/

⚠️ **The package is under developement and test. It can have some bugs or missed functionalities. I am open for project ideas or cooperation to make it better. **

Dashboard is a tcp/ip socket communication to port 29999 with functionalities like:

• Loading program and installation to robot
• Enabling the robot (Servo on/off, Break release)
• Control of the program (Play, Stop, Pause)

Realtime interface is a tcp/ip socket communication to port 30003 with functionalities like:

• movej - joint movements
• movel - linear movements
• digital io control (gripper control)
• robot statuses (program state, robot state, actual pose etc.)

It is using UR Script commands for controling the robot behavior.

pip install -i https://test.pypi.org/simple/pyURControl

from pyURControl import ur_control

# Init UR Control 
ur_control.init('RobotIPAdress')

# Send power on command
ur_control.power_on()

# Send break release command
ur_control.break_release()

After installation download the example file and connect it to the URSim Robot IP.

Then run the example: