UR Commander

A Python package for controlling Universal Robots (UR) robots through primary/secondary interface. This package provides a high-level API for robot control, supporting both joint space and task space operations.

Features

• Joint space control (movej, speedj)
• Cartesian space control (movel, speedl)
• Robot state retrieval
• Waypoint saving and loading
• Custom robot extensions support

Installation

pip install -e .

Quick Start

from ur_commander import URRobot, TaskPose

# Connect to the robot
robot = URRobot("192.168.1.102")

# Move in Cartesian space
pose = TaskPose([0.4, 0.0, 0.5, 0, 3.14, 0])  # [x, y, z, rx, ry, rz]
robot.movel(pose, blocking=True)

# Move in joint space
robot.movej([0, -1.57, 0, -1.57, 0, 0], blocking=True)

Requirements

• Python >= 3.8
• Network connection to a UR robot