urx_script.py

from urx import Robot

rob = Robot("172.22.22.2")
print(rob.x)  # returns current x
print(rob.y)  # returns current x
print(rob.z)  # returns current x
rob.set_tcp((0, 0, 0.1, 0, 0, 0))
rob.set_payload(2, (0, 0, 0.1))
sleep(0.2)  # leave some time to robot to process the setup commands
rob.movej((1, 2, 3, 4, 5, 6), a, v)
rob.movel((x, y, z, rx, ry, rz), a, v)
print("Current tool pose is: ", rob.getl())
rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)  # move relative to current pose
rob.translate((0.1, 0, 0), a, v)  # move tool and keep orientation
rob.stopj(a)

robot.movel((x, y, z, rx, ry, rz), wait=False)
while True:
    sleep(0.1)  # sleep first since the robot may not have processed the command yet
    if robot.is_program_running():
        break

robot.movel((x, y, z, rx, ry, rz), wait=False)
while robot.getForce() < 50:
    sleep(0.01)
    if not robot.is_program_running():
        break
robot.stopl()

try:
    robot.movel((0, 0, 0.1, 0, 0, 0), relative=True)
except RobotError as ex:
    print("Robot could not execute move (emergency stop for example), do something", ex)