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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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Attributes
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rtde_c
RTDE Control interface object
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rtde_r
RTDE Receive interface object
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end_effector
Gripper/end effector object if attached

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UR5e

UR5e(robot_ip: str, end_effector, velocity: float, acceleration: float)
Initialize the UR5e robot arm.
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Arguments
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robot_ip (str)
required
defaults to “192.168.1.102”. IP address of the robot. Defaults to “192.168.1.102”.
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end_effector (optional)
required
defaults to None. End effector class to use. Defaults to None.
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velocity (float)
required
defaults to 0.1. Default velocity scaling (0-1). Defaults to 0.1.
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acceleration (float)
required
defaults to 0.1. Default acceleration scaling (0-1). Defaults to 0.1.

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getImage

UR5e.getImage(camera_name: str, image_type: str)
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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Arguments
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camera_name (str)
required
Unused
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image_type (str)
required
Unused
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Returns
ImageNever returns as exception is raised

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cleanup

UR5e.cleanup()

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moveToDeltaPose

UR5e.moveToDeltaPose(delta_pose: Pose, blocking: bool, moving_time: float, accel_time: float)
Move the robot end effector by a relative pose offset from its current pose.
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Arguments
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delta_pose (Pose)
required
PoseRelative pose offset to move by, containing position and orientation deltas
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blocking (bool), optional
defaults to False. Wait for movement to complete. Defaults to False.
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moving_time (float), optional
defaults to 0.3. Time to complete the movement. Defaults to 0.3.
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accel_time (float), optional
defaults to 0.15. Time to accelerate/decelerate. Defaults to 0.15.

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moveToPose

UR5e.moveToPose(position: Position, orientation: Orientation, blocking: bool, moving_time: float, accel_time: float, name: str)
Move the robot end effector to a specified pose.
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Arguments
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position (Position)
required
PositionTarget position coordinates
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orientation (Orientation)
required
OrientationTarget orientation
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blocking (bool), optional
defaults to True. Wait for movement to complete. Defaults to True.
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moving_time (float), optional
defaults to 0.3. Time to complete the movement. Defaults to 0.3.
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accel_time (float), optional
defaults to 0.15. Time to accelerate/decelerate. Defaults to 0.15.
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name (str), optional
Unused

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moveByVelocity

UR5e.moveByVelocity(linear_velocity: Velocity, angular_velocity: Velocity, name: str)
Move the robot end effector with specified velocities.
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Arguments
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linear_velocity (Velocity)
required
VelocityLinear velocity components
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angular_velocity (Velocity)
required
VelocityAngular velocity components
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name (str), optional
Unused

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stop

UR5e.stop(immediate)
Stop any movement of the robot.
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Arguments
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immediate (bool), optional
If True, stops immediately by killing script. If False, performs controlled stop. Defaults to False.

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grasp

UR5e.grasp()

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release

UR5e.release()

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shutdown

UR5e.shutdown()

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getEndEffectorPose

UR5e.getEndEffectorPose()
Get the current end effector pose.
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Returns
PoseCurrent end effector position and orientation

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getPosition

UR5e.getPosition(name: str)
Get the current end effector position.
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Returns
PositionCurrent end effector position name (str, optional): Unused

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getOrientation

UR5e.getOrientation(name: str)
Get the current end effector orientation.
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Returns
OrientationCurrent end effector orientation name (str, optional): Unused

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getJointAngles

UR5e.getJointAngles()
Get current joint angles.
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Returns
List of current joint angles in radians

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getJointVelocities

UR5e.getJointVelocities()
Get current joint velocities.
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Returns
List of current joint velocities in radians/second

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setJointAngles

UR5e.setJointAngles(angles: list, blocking: bool, moving_time: float | None, accel_time: float | None)
Set joint angles directly.
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Arguments
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angles (list)
required
List of target joint angles in radians
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blocking (bool), optional
defaults to True. Wait for movement to complete. Defaults to True.
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moving_time (float | None), optional
defaults to None. Time to complete the movement. Defaults to None.
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accel_time (float | None), optional
defaults to None. Time to accelerate/decelerate. Defaults to None.

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moveToHome

UR5e.moveToHome()