Onix i s an open source robotic controller for universal robots currently in beta. Right now onix can generate URscript programs for universal robots using it's inverse kinematic solver with the ability to stream directly to the multiple robots at once.
The set of tools includes Inverse kinematic solver for the non spherical wrist UR10 robots, end effectors and I/O tools, program generation and program streaming components. All the tools are open source under the creative common licence.Feel free to edit update and improve the codes and clusters and share it with others.
The tool was created during the AAC "adaptive architecture and computation 2012/2013" course Thesis , Bartlett school of architecture, UCL, London.
Link to 'ONIX' grasshopper webpage
Link to 'THINKING ROBOTICS' blog