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UR5e

Inherits from: Robot A class to control the Universal Robots UR5e robotic arm. This class provides methods to control the UR5e robot arm using the RTDE interface. It supports basic movement controls, gripper operations, and status queries.
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RTDE Control interface object
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RTDE Receive interface object
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Gripper/end effector object if attached

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UR5e

Initialize the UR5e robot arm.
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required
defaults to “192.168.1.102”. IP address of the robot. Defaults to “192.168.1.102”.
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required
defaults to None. End effector class to use. Defaults to None.
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required
defaults to 0.1. Default velocity scaling (0-1). Defaults to 0.1.
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required
defaults to 0.1. Default acceleration scaling (0-1). Defaults to 0.1.

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getImage

Get an image from the robot’s camera.
The UR5e does not have a camera, so this method always raises an exception.
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required
Unused
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required
Unused
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ImageNever returns as exception is raised

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cleanup

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moveToDeltaPose

Move the robot end effector by a relative pose offset from its current pose.
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required
PoseRelative pose offset to move by, containing position and orientation deltas
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defaults to False. Wait for movement to complete. Defaults to False.
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defaults to 0.3. Time to complete the movement. Defaults to 0.3.
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defaults to 0.15. Time to accelerate/decelerate. Defaults to 0.15.

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moveToPose

Move the robot end effector to a specified pose.
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required
PositionTarget position coordinates
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required
OrientationTarget orientation
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defaults to True. Wait for movement to complete. Defaults to True.
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defaults to 0.3. Time to complete the movement. Defaults to 0.3.
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defaults to 0.15. Time to accelerate/decelerate. Defaults to 0.15.
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Unused

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moveByVelocity

Move the robot end effector with specified velocities.
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required
VelocityLinear velocity components
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required
VelocityAngular velocity components
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Unused

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stop

Stop any movement of the robot.
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If True, stops immediately by killing script. If False, performs controlled stop. Defaults to False.

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grasp

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release

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shutdown

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getEndEffectorPose

Get the current end effector pose.
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PoseCurrent end effector position and orientation

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getPosition

Get the current end effector position.
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PositionCurrent end effector position name (str, optional): Unused

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getOrientation

Get the current end effector orientation.
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OrientationCurrent end effector orientation name (str, optional): Unused

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getJointAngles

Get current joint angles.
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List of current joint angles in radians

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getJointVelocities

Get current joint velocities.
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List of current joint velocities in radians/second

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setJointAngles

Set joint angles directly.
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required
List of target joint angles in radians
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defaults to True. Wait for movement to complete. Defaults to True.
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defaults to None. Time to complete the movement. Defaults to None.
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defaults to None. Time to accelerate/decelerate. Defaults to None.

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moveToHome