#e-series #poly-scope #universal-robots #ur #urscript

no-std ur-script

UR e-series controller written in rust. Designed to be deployable on embedded systems without access to std.

2 unstable releases

0.2.0 Dec 25, 2022
0.1.1 Dec 22, 2022
0.1.0 Dec 22, 2022

#89 in Robotics


118 lines

URScript for Rust

Cargo Build & Test

A library enabling efficient and effective control of UR5 cobots, in std and no_std environments.

This library currently provides:

  • Support for no-std environemnts
  • Preproccessing of variables related to URScript
  • Implementation of the pose type seen in URScript

This library is aiming to provide:

  • Formatting of variables and functions in a way compatible with URScript
  • Preproccessing of some functions and variables
  • Implementation of all types related to URScript
  • Async helper functions
  • Ability to deserialize data from UR5 robot into Strings or native variables


Add this to your Cargo.toml:

// Replace * with latest version
ur_script = "*"


This crate can be used with the standard library by enabling the std feature and optionally disabling the default libm feature. Use this in Cargo.toml:

// Replace * with latest version
ur_script = "*"
features = ["std"]

The libm feature allows for the usage of floats in no_std builds.

More features to come as this library is developed.


Creative Commons Licence
This work is licensed under a Creative Commons Attribution-NonCommercial 4.0 International License.


This version of this library is built with nalgebra as a core dependency, which licensed under the Apache 2.0 license.


~63K SLoC