URScript

URScript is the programming language used to control Universal Robots arms such as the UR5E. A script is a list of commands that the robot controller runs line by line. The functions below are grouped by what they do.

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Motion Commands

How the tool is moved from one waypoint to the next:

• movej goes to a safe waypoint along a curved path in joint space
• movel goes in a straight line path to or from an object
• movep moves at a constant speed, useful for a process path such as dispensing

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Pose Utilities

Helpers for building and inverting poses:

• pose_trans applies an offset to a starting pose, so the new pose is built from a previous pose rather than a new hardcoded pose
• pose_inv inverts a pose transform

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Kinematics

These two functions convert between joint space and Cartesian space, the core of forward and inverse kinematics:

• get_forward_kin takes joint values $q$ and returns the resulting TCP pose $p$, the direction $q\to p$
• get_inverse_kin takes a desired TCP pose $p$ and returns joint values $q$, the direction $p\to q$

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State Reads

Functions that read back the live robot state:

• get_actual_tcp_pose returns the robot's current TCP pose, usually in the pose format $[x,y,z,r_x,r_y,r_z]$
• get_actual_joint_positions returns the current 6 joint angles, the direct robot state in joint space