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read me refactorisations
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‎.gitignore

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# Logs
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*.log
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*.jsonl
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#*.jsonl
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logs/
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# Configuration (keep templates, ignore actual config files)

‎README.md

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# 🤖 UR Robot Controller
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# UR Robot Controller
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[![Python 3.8+](https://img.shields.io/badge/python-3.8+-blue.svg)](https://www.python.org/downloads/)
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[![License: MIT](https://img.shields.io/badge/License-MIT-yellow.svg)](https://opensource.org/licenses/MIT)
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[![RTDE](https://img.shields.io/badge/RTDE-1.6+-green.svg)](https://sdurobotics.gitlab.io/ur_rtde/)
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A comprehensive Python library for controlling Universal Robots (UR) arms through Real-Time Data Exchange (RTDE). Supports both simulation environments and physical robots with built-in safety features.
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## ✨ What This Project Does
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![RobotArm](images/ursim_pipeline_1.png)
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## What This Project Does
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This library lets you **control Universal Robots** (6-axis robot arms) using Python code. You can:
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- **🎮 Control robot movements**: Make the robot move to specific positions, follow paths, or apply forces
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- **💻 Work with simulation**: Practice and test your code safely using a virtual robot
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- **🤖 Connect to real robots**: Control actual UR robots in labs, factories, or workshops
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- **📁 Run command sequences**: Execute pre-programmed or streaming movement sequences from files
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- **🛡️ Stay safe**: Built-in safety checks prevent dangerous or impossible movements on robots
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- **Control robot movements**: Make the robot move to specific positions, follow paths, or apply forces
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- **Work with simulation**: Practice and test your code safely using a virtual robot
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- **Connect to real robots**: Control actual UR robots in labs, factories, or workshops
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- **Run command sequences**: Execute pre-programmed or streaming movement sequences from files
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- **Stay safe**: Built-in safety checks prevent dangerous or impossible movements on robots
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**Perfect for**: Robotics students, researchers, automation engineers, or anyone wanting to program UR robots!
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## 🚀 Installation
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## Installation
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### System Requirements
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- **Python**: 3.8 or higher
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## ⚙️ Configuration: Setup Your Robot Settings
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## Configuration: Setup Your Robot Settings
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**🎯 IMPORTANT**: Set up your robot configuration first! This makes all scripts work without extra arguments.
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**IMPORTANT**: Set up your robot configuration first! This makes all scripts work without extra arguments.
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### Create Your Robot Configuration
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## 🎮 Simulation Setup
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## Simulation Setup
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### Start the Virtual Robot
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```bash
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## 🤖 Physical Robot Setup
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## Physical Robot Setup
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### Hardware Requirements
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- UR robot (UR3e, UR5e, UR10e, UR16e, or UR20)
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## 🧪 Testing Your Setup
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## Testing Your Setup
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### Test 1: Connection Status
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```bash

‎README_old.md renamed to ‎docs/README_old.md

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‎examples/asynchronous_deltas.jsonl

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{"dx": -0.05, "dy": 0.00, "dz": 0.00}
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{"dx": -0.05, "dy": 0.00, "dz": 0.00}
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{"dx": 0.05, "dy": 0.00, "dz": 0.00}
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{"dx": 0.00, "dy": 0.00, "dz": 0.00}

‎examples/synchronous_deltas.jsonl

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{"dx": 0.00, "dy": 0.00, "dz": 0.00}
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‎legacy/synchronous_log.jsonl

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