├── .gitignore ├── C# ├── .gitignore ├── API │ ├── Doxyfile │ ├── Exceptions │ │ ├── MatException.cs │ │ └── RdkException.cs │ ├── History.txt │ ├── IItem.cs │ ├── IRoboDk.cs │ ├── IRoboDkEventSource.cs │ ├── Item.cs │ ├── Mat.cs │ ├── Model │ │ ├── BufferedSocketAdapter.cs │ │ ├── CollisionCheckOptions.cs │ │ ├── CollisionItem.cs │ │ ├── CollisionLineResult.cs │ │ ├── CollisionPair.cs │ │ ├── DisplayRefType.cs │ │ ├── EulerType.cs │ │ ├── EventType.cs │ │ ├── FilterTargetResult.cs │ │ ├── GetPointsResult.cs │ │ ├── InstructionListJointsResult.cs │ │ ├── InstructionType.cs │ │ ├── InteractiveType.cs │ │ ├── ItemFlags.cs │ │ ├── ItemType.cs │ │ ├── ListJointsType.cs │ │ ├── MeasurePoseResult.cs │ │ ├── MechanismType.cs │ │ ├── MoveType.cs │ │ ├── ObjectSelectionType.cs │ │ ├── PluginOperation.cs │ │ ├── ProgramExecutionType.cs │ │ ├── ProgramInstruction.cs │ │ ├── ProgramRunType.cs │ │ ├── ProjectionType.cs │ │ ├── RDKColorExtension.cs │ │ ├── ReferenceCalibrationType.cs │ │ ├── RoboDkWindowFlags.cs │ │ ├── RobotConnectionParameter.cs │ │ ├── RobotConnectionType.cs │ │ ├── RunMode.cs │ │ ├── SequenceDisplayFlags.cs │ │ ├── SetJointsType.cs │ │ ├── SimulationErrorFlags.cs │ │ ├── SimulationErrorHandler.cs │ │ ├── SprayGunStates.cs │ │ ├── TcpCalibrationType.cs │ │ ├── UpdateResult.cs │ │ ├── ViewPoseType.cs │ │ ├── VisibleRefType.cs │ │ └── WindowState.cs │ ├── Properties │ │ └── AssemblyInfo.cs │ ├── README.md │ ├── RoboDK-API-Documentation.url │ ├── RoboDK.cs │ ├── RoboDK.ico │ ├── RoboDK.png │ ├── RoboDKEventSource.cs │ ├── RoboDKsubclass.cs │ ├── RoboDk.md │ ├── RoboDkApi.5.1.0.nupkg │ ├── RoboDkApi.5.4.3.nupkg │ ├── RoboDkApi.5.6.2.nupkg │ ├── RoboDkApi.5.6.5.nupkg │ ├── RoboDkApi.5.6.8.nupkg │ ├── RoboDkApi.5.8.0.nupkg │ ├── RoboDkApi.5.9.0.nupkg │ ├── RoboDkApi.csproj │ ├── RoboDkApi.nuspec │ ├── RoboDkBitConverter.cs │ ├── RoboDkCommandLineParameter.cs │ ├── api │ │ └── RoboDk.md │ ├── articles │ │ ├── favicon.ico │ │ ├── intro.md │ │ ├── robodk-logo-40.svg │ │ └── toc.yml │ ├── doc_update.bat │ ├── docfx.json │ ├── images │ │ ├── favicon.ico │ │ └── logo.svg │ ├── index.md │ ├── license.txt │ ├── nuget.exe │ ├── nuget_update.bat │ ├── packages.config │ └── toc.yml ├── APIExamples │ ├── RoboDKApiWPFApplication │ │ ├── App.xaml │ │ ├── App.xaml.cs │ │ ├── AssemblyInfo.cs │ │ ├── MainWindow.xaml │ │ ├── MainWindow.xaml.cs │ │ ├── Resources │ │ │ └── IconRoboDK.ico │ │ └── RoboDKApiWPFApplication.csproj │ ├── SimpleApplication │ │ ├── App.config │ │ ├── Program.cs │ │ ├── Properties │ │ │ └── AssemblyInfo.cs │ │ └── SimpleNetFrameworkApplication.csproj │ ├── SimpleNetcoreApplication │ │ ├── Program.cs │ │ └── SimpleNetCoreApplication.csproj │ └── UIExample │ │ ├── App.config │ │ ├── FormRobot.Designer.cs │ │ ├── FormRobot.cs │ │ ├── FormRobot.resx │ │ ├── Program.cs │ │ ├── Properties │ │ ├── AssemblyInfo.cs │ │ ├── Resources.Designer.cs │ │ ├── Resources.resx │ │ ├── Settings.Designer.cs │ │ └── Settings.settings │ │ ├── Resources │ │ └── IconRoboDK.ico │ │ └── RoboDKApiWinformsApplication.csproj ├── APIUnitTest │ ├── Box.sld │ ├── Phone Case Box.sld │ ├── Phone Case Done.sld │ ├── Properties │ │ └── AssemblyInfo.cs │ ├── RoboDKAPITest.csproj │ ├── RoboDkApiTest.cs │ ├── TableOut.sld │ └── robot.robot ├── Example │ ├── RoboDKSampleProject │ │ ├── App.config │ │ ├── FormRobot.Designer.cs │ │ ├── FormRobot.cs │ │ ├── FormRobot.resx │ │ ├── Program.cs │ │ ├── Properties │ │ │ ├── AssemblyInfo.cs │ │ │ ├── Resources.Designer.cs │ │ │ ├── Resources.resx │ │ │ ├── Settings.Designer.cs │ │ │ └── Settings.settings │ │ ├── Resources │ │ │ └── IconRoboDK.ico │ │ ├── RoboDK.cs │ │ └── RoboDKFlatApiWinformsApplication.csproj │ ├── RoboDKSampleSolution.sln │ └── RoboDKSampleSolution.suo ├── RoboDkApi.sln ├── RoboDkApi.sln.DotSettings └── readme.md ├── C++ ├── .gitignore ├── CMakeLists.txt ├── Config.cmake.in ├── Example │ ├── RoboDK-API-Cpp-Sample.pro │ ├── embedexample.cpp │ ├── embedexample.h │ ├── embedexample.ui │ ├── main.cpp │ ├── mainwindow.cpp │ ├── mainwindow.h │ └── mainwindow.ui ├── PluginApiExample │ ├── README.md │ ├── iapprobodk.h │ ├── iitem.h │ ├── irobodk.h │ ├── pluginapiexample.cpp │ ├── pluginapiexample.h │ ├── pluginapiexample.pro │ ├── robodkinternalsocket.cpp │ ├── robodkinternalsocket.h │ ├── robodktypes.cpp │ └── robodktypes.h ├── conanfile.txt ├── readme.md ├── robodk_api.cpp └── robodk_api.h ├── C ├── RoboDK_C_API.filters ├── RoboDK_C_API.pro ├── RoboDK_C_API.sln ├── RoboDK_C_API.vcxproj ├── example.c ├── readme.md ├── robodk_api_c.c └── robodk_api_c.h ├── CMakeLists.txt ├── LICENSE ├── Matlab ├── API_Demo.m ├── Example-Picture.png ├── Example_RoboDK.m ├── Example_RoboDK_DrawHexagon.m ├── Example_RoboDK_ModifyProgram.m ├── Example_RoboDK_SelectRobot.m ├── Examples │ └── BinPickingCHOMP │ │ ├── MATLAB-UR-ChompDemo.rdk │ │ ├── exampleHelperAddGripper.m │ │ ├── exampleHelperAttachPartAtEndEffector.m │ │ └── exampleRoboDKChomp.m ├── Fanuc_2_Pose.m ├── KUKA_2_Pose.m ├── Pose_2_Fanuc.m ├── Pose_2_KUKA.m ├── Pose_2_XYZRPW.m ├── README.MD ├── RoboDK API Documentation.url ├── RoboDK API Reference.url ├── RoboDK Example.url ├── RoboDK_Pose2Joints.m ├── RoboDK_Sample.mdl ├── RoboDK_ShowPose.m ├── RoboDK_getLink.m ├── RoboDK_getRobot.m ├── Robolink.m ├── RobolinkItem.m ├── XYZRPW_2_Pose.m ├── html │ └── Example_RoboDK.html ├── rotx.m ├── roty.m ├── rotz.m ├── tcpclient-tcpip-ICT │ └── Robolink.m └── transl.m ├── Python ├── .gitignore ├── .vscode │ └── settings.json ├── Examples │ ├── Macros │ │ ├── APT_Split.py │ │ ├── Add_Curve_by_Points.py │ │ ├── Add_Shape_by_Triangles.py │ │ ├── ArcEnd.py │ │ ├── ArcStart.py │ │ ├── CalculateErrorsDistances.py │ │ ├── CalculateErrorsPoses.py │ │ ├── CallNC.py │ │ ├── Camera-Shaders │ │ │ ├── shader_fragment.glsl │ │ │ ├── shader_fragment_depth.glsl │ │ │ ├── shader_vertex.glsl │ │ │ └── shader_vertex_distort.glsl │ │ ├── CameraAdd.py │ │ ├── CameraAddFov.py │ │ ├── CameraHandEyeApply.py │ │ ├── CameraHandEyeRecord.py │ │ ├── CameraLiveStream.py │ │ ├── CameraSnapshot.py │ │ ├── CheckCollisions.py │ │ ├── Create_measurements_Grid.py │ │ ├── Create_repeatability_test.py │ │ ├── Depth_Camera.py │ │ ├── DisplayItem.py │ │ ├── DoPointWeld.py │ │ ├── DoWeld_Remote.py │ │ ├── Draw_SVG.py │ │ ├── Edit_Machining_Settings.py │ │ ├── EmbedWindow_DockExample.py │ │ ├── Embed_PySide6.py │ │ ├── Event_Loop.py │ │ ├── Event_Loop_ProgramSlider.py │ │ ├── ExportTargets.py │ │ ├── Extruder.py │ │ ├── Fanuc_RetrieveRobotJoints.py │ │ ├── FilterProgram.py │ │ ├── FilterProgram2.py │ │ ├── FilterProgram3.py │ │ ├── FilterTarget.py │ │ ├── Follow_Curve_Auto_Setup.py │ │ ├── ForceProgramsMoveL.py │ │ ├── GetPoints_HighlightSelectedSurface.py │ │ ├── Jog_Robot_With_Keyboard.py │ │ ├── JointSpeedsAccel.py │ │ ├── JointsPlayback.py │ │ ├── LaserSensorWait.py │ │ ├── LoadMachiningPrograms.py │ │ ├── Machining.py │ │ ├── MaintainViewPose.py │ │ ├── Make_Cube_Program.py │ │ ├── MechanismUpdateTCP.py │ │ ├── MirrorDevices.py │ │ ├── MirrorRealRobot.py │ │ ├── Mirror_Robots.py │ │ ├── ModifyProgramTargets.py │ │ ├── MonitorJoints.py │ │ ├── MonitorJointsReal.py │ │ ├── Monitor_TCP_Speed.py │ │ ├── MoveAxis.py │ │ ├── MoveC_2_MoveL.py │ │ ├── MoveL_Test_Make_Cube_Program.py │ │ ├── MoveRobotRelative.py │ │ ├── MoveRobotThroughLine.py │ │ ├── MoveRobotsOnline.py │ │ ├── Move_Robot_and_Measure.py │ │ ├── ObjectEvents.py │ │ ├── Open3D_Depth_Camera.py │ │ ├── Open3D_RGBD_Camera.py │ │ ├── OpenCV_Augmented_Reality.py │ │ ├── OpenCV_Barcode_Reader.py │ │ ├── OpenCV_Blobs.py │ │ ├── OpenCV_Camera_Calibration.py │ │ ├── OpenCV_Camera_Pose.py │ │ ├── OpenCV_Part_Pose_SIFT.py │ │ ├── OpenCV_Parts_Orientation.py │ │ ├── PickObject.py │ │ ├── Pick_And_Place.py │ │ ├── PluginCommand.py │ │ ├── PointFollow_XYZSpeed.py │ │ ├── PointLines_2_Points.py │ │ ├── PrintProgramInstructions.py │ │ ├── ProgramExternalAxes.py │ │ ├── Reorganise_Prog.py │ │ ├── RobotMachiningSettings.py │ │ ├── Robot_Model.py │ │ ├── RunConveyor.py │ │ ├── SampleApproachRetract.py │ │ ├── SampleOfflineProgramming.py │ │ ├── SampleOfflineProgramming_GUI.py │ │ ├── SampleOnlineProgramming.py │ │ ├── SetIO.py │ │ ├── SetToolCutter wrt Tool Holder.rdk │ │ ├── SetToolCutter.py │ │ ├── SetTool_ID.py │ │ ├── SettingsAxesOptimization.py │ │ ├── SetupCamera2D.py │ │ ├── Show_All_Configurations.py │ │ ├── SimulateGripper.py │ │ ├── SpindleOff.py │ │ ├── SpindleOn.py │ │ ├── SprayOff.py │ │ ├── SprayOn.py │ │ ├── SyncRobot1.py │ │ ├── Synchronize_3_Robots.py │ │ ├── TCP_2_axis_projection.py │ │ ├── TCP_Set_Relative.py │ │ ├── TCP_Set_Relative_All_Len.py │ │ ├── TrackPath_Measurements.py │ │ ├── TrackerCalibrateReference.py │ │ ├── Tracker_CreatePoints.py │ │ ├── UR_ActivateMonitoring.py │ │ ├── UR_Monitoring_CSV.py │ │ ├── UR_SendCommand.py │ │ ├── UpdateKinematics_Turntable2x.py │ │ ├── WaitDI.py │ │ ├── WaitForPart.py │ │ ├── WeldOff.py │ │ ├── WeldOn.py │ │ ├── Weld_Path_Embedded.py │ │ ├── calibration_targets_stereocamera.py │ │ ├── calibration_targets_tracker.py │ │ ├── calibration_targets_tracker_rail.py │ │ └── load_dxf_codec.py │ ├── README.MD │ └── Scripts │ │ ├── Add_Object_To_Robot.py │ │ ├── Barcode_1D_Generator.py │ │ ├── Barcode_2D_Generator.py │ │ ├── CalibrationExtractPoseMeasurements.py │ │ ├── Check_Orientation_Reachability.py │ │ ├── Comau_LIS_Import.py │ │ ├── Curve_Change_Normals.py │ │ ├── Curve_Filter_AverageNormals.py │ │ ├── Curve_Offset_CollisionFree.py │ │ ├── Curve_Project_2_Surface.py │ │ ├── CycleTimeDisplay.py │ │ ├── CycleTimeDisplay2.py │ │ ├── CycleTimeDisplayAll.py │ │ ├── CycleTimeStudy.py │ │ ├── Example-Import-CSV-XYZWPR.csv │ │ ├── FilterKukaCamrob.py │ │ ├── ImportCSV_XYZ.py │ │ ├── ImportCSV_XYZWPR.py │ │ ├── ImportDensoProgramCSV.py │ │ ├── Import_DXF.py │ │ ├── Import_KUKA_SRC_Program.py │ │ ├── Import_Mecademic_Script.py │ │ ├── Install_Python_Package.py │ │ ├── KUKA_Driver_Auto_Configuration.py │ │ ├── MechanismArrayCustom.py │ │ ├── Mesh_Filter.py │ │ ├── MoveC_2_MoveL.py │ │ ├── MovePolygon.py │ │ ├── MovePolygonGUI.py │ │ ├── Notes.txt │ │ ├── ProgramAddInstructions.py │ │ ├── ProgramCopy.py │ │ ├── ProgramDisplayRobotTrace.py │ │ ├── ProgramInvertPoses.py │ │ ├── ProgramListCSV.py │ │ ├── ProgramReLinkTool.py │ │ ├── ProgramSlider.py │ │ ├── ProgramSplitJoints.py │ │ ├── ProjectCurve2SurfaceGUI.py │ │ ├── RobotsConnect.py │ │ ├── RobotsDisconnect.py │ │ ├── RobotsMonitor.py │ │ ├── SampleXYZS.csv │ │ ├── ScaleXYZ.py │ │ ├── ScrollTo_Running_Instruction.py │ │ ├── SetColorCurves.py │ │ ├── SetColorToolpaths.py │ │ ├── ShowAsPointCloud.py │ │ ├── ShowCommands.py │ │ ├── StopAllPrograms.py │ │ ├── TakeSnapshot.py │ │ ├── TakeSnapshotHighRes.py │ │ └── UR_LoadControllerKinematics.py ├── LICENSE ├── MANIFEST.in ├── Python-Programming-RoboDK.png ├── pylint_robodk │ ├── __init__.py │ └── pylint_robodk.py ├── readme.md ├── robodk │ ├── __init__.py │ ├── roboapps.py │ ├── robodialogs.py │ ├── robofileio.py │ ├── robolink.py │ ├── robolinkutils.py │ └── robomath.py ├── robolink │ └── __init__.py ├── setup.cfg ├── setup.py ├── tests │ ├── .vscode │ │ └── settings.json │ ├── Readme.txt │ ├── Robot7_2TCP.rdk │ ├── Robot_2TCP.rdk │ ├── discover-unittest.py │ ├── nose2.cfg │ ├── path_simulation.py │ ├── run_RobotSim6AxesTcpChange_Tests.cmd │ ├── run_RobotSim6Axes_Tests.cmd │ ├── run_RobotSim7Axes_Tests.cmd │ ├── run_RobotSimulationErrors6Axes_Tests.cmd │ ├── test_RobotSim6Axes.py │ ├── test_RobotSim6AxesTcpChange.py │ ├── test_RobotSim7Axes.py │ ├── test_RobotSimBase.py │ ├── test_RobotSimulationErrors6Axes.py │ ├── test_import_modules.py │ └── test_quaternion.py └── tools │ ├── build.bat │ ├── build_python2.bat │ ├── env.bat │ ├── python2.py │ └── requirements.txt ├── README.md ├── Tutorials ├── 01-Introduction │ ├── Example_01_API - Basics.rdk │ └── README.md ├── 02-Loading-CSV-Files │ └── README.md └── README.md └── Visual Basic ├── Example ├── App.config ├── FormRoboDK_API.designer.vb ├── FormRoboDK_API.resx ├── FormRoboDK_API.vb ├── My Project │ ├── Application.Designer.vb │ ├── Application.myapp │ ├── AssemblyInfo.vb │ ├── Resources.Designer.vb │ ├── Resources.resx │ ├── Settings.Designer.vb │ └── Settings.settings ├── RoboDK_API.vb └── RoboDK_API_VB.vbproj ├── RoboDKVBAPIDemo ├── .vs │ └── RoboDKVBAPIDemo │ │ └── v15 │ │ ├── .suo │ │ └── Server │ │ └── sqlite3 │ │ ├── db.lock │ │ ├── storage.ide │ │ ├── storage.ide-shm │ │ └── storage.ide-wal ├── RoboDKVBAPIDemo.sln ├── WindowsApp4 │ ├── App.config │ ├── Form1.Designer.vb │ ├── Form1.resx │ ├── Form1.vb │ ├── Module1.vb │ ├── My Project │ │ ├── Application.Designer.vb │ │ ├── Application.myapp │ │ ├── AssemblyInfo.vb │ │ ├── Resources.Designer.vb │ │ ├── Resources.resx │ │ ├── Settings.Designer.vb │ │ ├── Settings.settings │ │ └── app.manifest │ ├── RoboDKAPIDemo.vbproj │ ├── obj │ │ └── Debug │ │ │ ├── DesignTimeResolveAssemblyReferences.cache │ │ │ ├── DesignTimeResolveAssemblyReferencesInput.cache │ │ │ ├── RoboDK 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