├── .clang-format ├── .clang-tidy ├── .github ├── ISSUE_TEMPLATE │ ├── new_feature.yaml │ └── ros_bug.yaml ├── codecov.yml ├── dependabot.yml ├── release.yml └── workflows │ ├── check_links.yml │ ├── ci.yml │ ├── industrial-ci.yml │ ├── pre-commit.yml │ ├── prerelease.yml │ ├── sphinx_build.yml │ └── win-build.yml ├── .gitignore ├── .markdownlint.yaml ├── .pre-commit-config.yaml ├── .rosdoc_ignore_patterns ├── .simplecov ├── 3rdparty ├── .clang-tidy ├── endian │ └── endian.h └── urcl_3rdparty │ ├── httplib │ ├── LICENSE.txt │ └── httplib.h │ └── nlohmann_json │ ├── Apache-2.0.txt │ ├── LICENSE.MIT.txt │ ├── MIT.txt │ └── json.hpp ├── CHANGELOG.rst ├── CMakeLists.txt ├── Gemfile ├── LICENSE_apache_2_0 ├── README.md ├── colcon.pkg ├── doc ├── _static │ ├── css │ │ └── ur_theme.css │ └── images │ │ ├── icon.svg │ │ └── ur_logo.svg ├── api_reference.rst ├── architecture.rst ├── architecture │ ├── dashboard_client.rst │ ├── instruction_executor.rst │ ├── reverse_interface.rst │ ├── rtde_client.rst │ ├── script_command_interface.rst │ ├── script_reader.rst │ ├── script_sender.rst │ ├── trajectory_point_interface.rst │ └── ur_driver.rst ├── conf.py ├── examples.rst ├── examples │ ├── dashboard_client.rst │ ├── direct_torque_control.rst │ ├── external_fts_through_rtde.rst │ ├── force_mode.rst │ ├── freedrive.rst │ ├── instruction_executor.rst │ ├── primary_pipeline.rst │ ├── primary_pipeline_calibration.rst │ ├── rtde_client.rst │ ├── script_command_interface.rst │ ├── script_sender.rst │ ├── spline_example.rst │ ├── tool_contact_example.rst │ ├── trajectory_point_interface.rst │ └── ur_driver.rst ├── images │ ├── initial_setup_images │ │ ├── cb3_01_welcome.png │ │ ├── cb3_05_urcaps_installed.png │ │ ├── cb3_07_installation_excontrol.png │ │ ├── cb3_10_prog_structure_urcaps.png │ │ ├── cb3_11_program_view_excontrol.png │ │ ├── es_01_welcome.png │ │ ├── es_05_urcaps_installed.png │ │ ├── es_07_installation_excontrol.png │ │ ├── es_10_prog_structure_urcaps.png │ │ ├── es_11_program_view_excontrol.png │ │ ├── family_photo.png │ │ ├── px_01_welcome.png │ │ ├── px_05_urcaps_installed.png │ │ ├── px_07_installation_excontrol.png │ │ ├── px_10_prog_structure_urcaps.png │ │ ├── px_11_program_view_excontrol.png │ │ ├── remote_control.png │ │ ├── services_polyscope5.png │ │ └── services_polyscopex.png │ ├── trajectory_interface.drawio │ ├── trajectory_interface.svg │ ├── urcl_architecture.drawio │ └── urcl_architecture.svg ├── index.rst ├── installation.rst ├── migration_notes.rst ├── polyscope_compatibility.rst ├── real_time.rst ├── resources │ ├── family_photo.png │ ├── fzi-logo_transparenz.png │ └── ur_logo.jpg ├── setup.rst └── setup │ ├── network_setup.rst │ ├── robot_setup.rst │ └── ursim_docker.rst ├── doc_requirements.txt ├── examples ├── CMakeLists.txt ├── dashboard_example.cpp ├── direct_torque_control.cpp ├── external_fts_through_rtde.cpp ├── force_mode_example.cpp ├── freedrive_example.cpp ├── full_driver.cpp ├── instruction_executor.cpp ├── primary_pipeline.cpp ├── primary_pipeline_calibration.cpp ├── resources │ ├── rtde_input_only_ft.txt │ ├── rtde_input_recipe.txt │ └── rtde_output_recipe.txt ├── rtde_client.cpp ├── script_command_interface.cpp ├── script_sender.cpp ├── spline_example.cpp ├── tool_contact_example.cpp └── trajectory_point_interface.cpp ├── include └── ur_client_library │ ├── comm │ ├── bin_parser.h │ ├── control_mode.h │ ├── package.h │ ├── package_serializer.h │ ├── parser.h │ ├── pipeline.h │ ├── producer.h │ ├── shell_consumer.h │ ├── socket_t.h │ ├── stream.h │ ├── tcp_server.h │ └── tcp_socket.h │ ├── control │ ├── motion_primitives.h │ ├── reverse_interface.h │ ├── script_command_interface.h │ ├── script_reader.h │ ├── script_sender.h │ └── trajectory_point_interface.h │ ├── default_log_handler.h │ ├── example_robot_wrapper.h │ ├── exceptions.h │ ├── helpers.h │ ├── log.h │ ├── primary │ ├── .clang-tidy │ ├── abstract_primary_consumer.h │ ├── package_header.h │ ├── primary_client.h │ ├── primary_consumer.h │ ├── primary_package.h │ ├── primary_parser.h │ ├── robot_message.h │ ├── robot_message │ │ ├── error_code_message.h │ │ └── version_message.h │ ├── robot_state.h │ └── robot_state │ │ ├── configuration_data.h │ │ ├── kinematics_info.h │ │ └── robot_mode_data.h │ ├── queue │ ├── .clang-tidy │ ├── LICENSE.md │ ├── atomicops.h │ └── readerwriterqueue.h │ ├── rtde │ ├── .clang-tidy │ ├── control_package_pause.h │ ├── control_package_setup_inputs.h │ ├── control_package_setup_outputs.h │ ├── control_package_start.h │ ├── data_package.h │ ├── get_urcontrol_version.h │ ├── package_header.h │ ├── request_protocol_version.h │ ├── rtde_client.h │ ├── rtde_package.h │ ├── rtde_parser.h │ ├── rtde_writer.h │ └── text_message.h │ ├── types.h │ └── ur │ ├── calibration_checker.h │ ├── dashboard_client.h │ ├── dashboard_client_implementation.h │ ├── dashboard_client_implementation_g5.h │ ├── dashboard_client_implementation_x.h │ ├── datatypes.h │ ├── instruction_executor.h │ ├── robot_receive_timeout.h │ ├── tool_communication.h │ ├── ur_driver.h │ └── version_information.h ├── package.xml ├── resources └── external_control.urscript ├── rosdoc.yaml ├── run_examples.sh ├── scripts └── start_ursim.sh ├── src ├── comm │ ├── tcp_server.cpp │ └── tcp_socket.cpp ├── control │ ├── motion_primitives.cpp │ ├── reverse_interface.cpp │ ├── script_command_interface.cpp │ ├── script_reader.cpp │ ├── script_sender.cpp │ └── trajectory_point_interface.cpp ├── default_log_handler.cpp ├── example_robot_wrapper.cpp ├── helpers.cpp ├── log.cpp ├── primary │ ├── primary_client.cpp │ ├── primary_package.cpp │ ├── robot_message.cpp │ ├── robot_message │ │ ├── error_code_message.cpp │ │ └── version_message.cpp │ ├── robot_state.cpp │ └── robot_state │ │ ├── configuration_data.cpp │ │ ├── kinematics_info.cpp │ │ └── robot_mode_data.cpp ├── rtde │ ├── control_package_pause.cpp │ ├── control_package_setup_inputs.cpp │ ├── control_package_setup_outputs.cpp │ ├── control_package_start.cpp │ ├── data_package.cpp │ ├── get_urcontrol_version.cpp │ ├── request_protocol_version.cpp │ ├── rtde_client.cpp │ ├── rtde_package.cpp │ ├── rtde_writer.cpp │ └── text_message.cpp └── ur │ ├── calibration_checker.cpp │ ├── dashboard_client.cpp │ ├── dashboard_client_implementation_g5.cpp │ ├── dashboard_client_implementation_x.cpp │ ├── instruction_executor.cpp │ ├── robot_receive_timeout.cpp │ ├── tool_communication.cpp │ ├── ur_driver.cpp │ └── version_information.cpp ├── tests ├── CMakeLists.txt ├── resources │ ├── dockerursim │ │ └── programs │ │ │ ├── cb3 │ │ │ ├── default.installation │ │ │ ├── default.variables │ │ │ ├── external_control.urp │ │ │ ├── programs.UR5 │ │ │ └── wait_program.urp │ │ │ └── e-series │ │ │ ├── default.installation │ │ │ ├── default.variables │ │ │ ├── external_control.urp │ │ │ ├── programs.UR5 │ │ │ └── wait_program.urp │ ├── empty.txt │ ├── example_urscript_feature.urscript │ ├── example_urscript_main.urscript │ ├── exhaustive_rtde_output_recipe.txt │ ├── generate_rtde_outputs.py │ ├── rtde_input_recipe.txt │ ├── rtde_output_recipe.txt │ ├── rtde_output_recipe_spline.txt │ └── rtde_output_recipe_without_timestamp.txt ├── test_bin_parser.cpp ├── test_control_mode.cpp ├── test_dashboard_client.cpp ├── test_dashboard_client_g5.cpp ├── test_dashboard_client_x.cpp ├── test_deprecated_ur_driver_construction.cpp ├── test_helpers.cpp ├── test_instruction_executor.cpp ├── test_package_serializer.cpp ├── test_pipeline.cpp ├── test_primary_client.cpp ├── test_primary_parser.cpp ├── test_producer.cpp ├── test_reverse_interface.cpp ├── test_robot_receive_timeout.cpp ├── test_rtde_client.cpp ├── test_rtde_control_package_pause.cpp ├── test_rtde_control_package_setup_inputs.cpp ├── test_rtde_control_package_setup_outputs.cpp ├── test_rtde_control_package_start.cpp ├── test_rtde_data_package.cpp ├── test_rtde_get_urcontrol_version.cpp ├── test_rtde_parser.cpp ├── test_rtde_request_protocol_version.cpp ├── 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