--- a
+++ b/URBasic/robotConnector.py
@@ -0,0 +1,69 @@
+'''
+Python 3.x library to control an UR robot through its TCP/IP interfaces
+Copyright (C) 2017  Martin Huus Bjerge, Rope Robotics ApS, Denmark
+
+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 "Rope Robotics ApS" 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.
+
+Except as contained in this notice, the name of "Rope Robotics ApS" shall not be used
+in advertising or otherwise to promote the sale, use or other dealings in this Software
+without prior written authorization from "Rope Robotics ApS".
+'''
+__author__ = "Martin Huus Bjerge"
+__copyright__ = "Copyright 2017, Rope Robotics ApS, Denmark"
+__license__ = "MIT License"
+
+import URBasic
+#import URplus #import if any UPplus modules is needed
+
+class RobotConnector(object):
+    '''
+    Class to hold all connection to the Universal Robot and plus devises
+
+    Input parameters:
+
+    '''
+
+
+    def __init__(self, robotModel, host, hasForceTorque=False, conf_filename=None):
+        '''
+        Constructor see class description for more info.
+        '''
+        if(False):
+            assert isinstance(robotModel, URBasic.robotModel.RobotModel)  ### This line is to get code completion for RobotModel
+        self.RobotModel = robotModel
+        self.RobotModel.ipAddress = host
+        self.RobotModel.hasForceTorqueSensor = hasForceTorque
+        self.RealTimeClient = URBasic.realTimeClient.RealTimeClient(robotModel)
+        self.DataLog = URBasic.dataLog.DataLog(robotModel)
+        self.RTDE = URBasic.rtde.RTDE(robotModel, conf_filename=conf_filename)
+        self.DashboardClient = URBasic.dashboard.DashBoard(robotModel)
+        self.ForceTourqe = None
+        # if hasForceTorque:
+        #     self.ForceTourqe = URplus.forceTorqueSensor.ForceTorqueSensor(robotModel)
+
+        logger = URBasic.dataLogging.DataLogging()
+        name = logger.AddEventLogging(__name__)
+        self.__logger = logger.__dict__[name]
+        self.__logger.info('Init done')
+
+
+    def close(self):
+        self.DataLog.close()
+        self.RTDE.close()
+        self.RealTimeClient.Disconnect()
+        self.DashboardClient.close()
+        if self.ForceTourqe is not None:
+            self.ForceTourqe.close()