docs: Clarify that the motion functions use script functions for exec…

…ution (#255) Make it explicit that there is no magic going on here, but the motion functions simply forward information to respective URScript functions using the same parametrization and implications as the script functions. --------- Co-authored-by: Rune Søe-Knudsen <[email protected]>
UniversalRobots · Jan 30, 2025 · 25d81bf · 25d81bf
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diff --git a/doc/architecture/instruction_executor.rst b/doc/architecture/instruction_executor.rst
@@ -12,6 +12,15 @@ 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 ``examples/instruction_executor.cpp`` example:
 
 .. literalinclude:: ../../examples/instruction_executor.cpp

diff --git a/doc/architecture/trajectory_point_interface.rst b/doc/architecture/trajectory_point_interface.rst
@@ -17,6 +17,15 @@ control PC to the robot for execution. Execution isn't started, before a start c
 the ``ReverseInterface``. Once trajectory execution is done (either successful, failed or canceled
 externally), the robot will send a response back to the control PC via the trajectory socket.
 
+.. note::
+   The ``TrajectoryPointInterface`` 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.
+
 
 Communication protocol
 ----------------------