diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index 7d63995..d9f2026 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -238,7 +238,16 @@ class RobotTCP(TcpDevice, Stoppable):
     def get_joint_forces(self):
         robot_tcp.evaluate("getJointForce(arr)")        
         return robot_tcp.get_float_arr(6)
+
+    def movej(self, joint_or_point, tool, desc):
+        return self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")")
         
+    def movel(self, point, tool, desc):
+        return self.eval_int("movel(" + point + ", " + tool + ", " + desc +")")
+
+    def movec(self, point_interm, point_target, tool, desc):
+        return self.eval_int("movec(" + point_interm + ", " + point_target + ", " + tool + ", " + desc +")")
+
 
     #Tool
     #This function can timeout since it synchronizes move.