Is there an option inside the polyscope to export the cycle time of the simulated robot? I run a script and the simulated movement is perfect, but where is the cycle time estimation data?

Hi @giannis_let,

I suggest you simply use a thread with a counter that will be running as a timer:

Main Program
timer = 0
...
cycle_time = timer

Thread
timer = timer + 0.008
sync()

Note that if you're running on an e-Series you should increment by 0.002s.

UR does not have cycle time estimates, the best way is to add a thread in the background.  You can then control when to turn on the timer and where in the program you want to capture sub-times, total time, etc.