.. _instruction_executor:

Instruction Executor
====================

The Instruction Executor is a convenience wrapper to make common robot instructions such as point
to point motions easily accessible. Currently, it supports the following instructions:

* Excecute MoveJ point to point motions
* Execute MoveL point to point motions
* Execute sequences consisting of MoveJ and MoveL instructions

The Instruction Executor uses the :ref:`trajectory_point_interface` and the
:ref:`reverse_interface`
for sending motion instructions to the robot. Hence, it requires a :ref:`ur_driver` object.

.. note::
   The ``InstructionExecutor`` simply forwards the trajectory points to the robot. Execution
   is done using respective URScript functions such as `movej
   <https://www.universal-robots.com/manuals/EN/HTML/SW5_20/Content/prod-scriptmanual/G5/movej_qa14v105t0r.htm>`_
   or `movel
   <https://www.universal-robots.com/manuals/EN/HTML/SW5_20/Content/prod-scriptmanual/G5/movel_posea12v025t.htm>`_.
   Therefore, all parameters and restrictions of these functions apply. For example, velocity and
   acceleration parameters will be ignored if there is a time > 0 given.

As a minimal working example, please see the :ref:`instruction_executor_example`.