├── .editorconfig ├── .gitattributes ├── .github ├── CODE_OF_CONDUCT.md ├── FUNDING.yml ├── ISSUE_TEMPLATE │ ├── bug.yml │ └── config.yml ├── README.md ├── SUPPORT.md └── workflows │ └── publish.yml ├── .gitignore ├── Directory.Build.props ├── LICENSE ├── NOTICE ├── RELEASE ├── Robots.slnx ├── docs ├── Bartlett │ ├── Adhesive_extruder.3dm │ ├── Flange.3dm │ ├── IO_layout.PNG │ └── IO_layout.pdf ├── Images │ ├── coordinate system.png │ ├── iconRobot.svg │ └── logo.png └── Sponsors │ ├── Bmade_dark.png │ └── Bmade_light.png ├── lib ├── ABB.Robotics.Controllers.PC.dll ├── Newtonsoft.Json.Rhino.dll ├── RobotStudio.Services.RobApi.Desktop.dll └── RobotStudio.Services.RobApi.dll ├── samples ├── Robots.Samples.Dynamo │ ├── DynamoMeshPoser.cs │ ├── Geometry.cs │ ├── Program.cs │ ├── Robot.cs │ ├── Robots.Samples.Dynamo.csproj │ ├── RobotsViewExtension.cs │ └── package │ │ ├── bin │ │ └── Robots.Dynamo_DynamoCustomization.xml │ │ ├── extra │ │ └── Robots.Dynamo_ViewExtensionDefinition.xml │ │ └── pkg.json ├── Robots.Samples.Grasshopper │ ├── Python script example.gh │ ├── extrusion example.gh │ ├── metal forming example.gh │ ├── pick and place example.gh │ ├── positioner example.gh │ └── simple example.gh ├── Robots.Samples.Unity │ ├── .gitattributes │ ├── .gitignore │ ├── Assets │ │ ├── CameraSimple.cs │ │ ├── CameraSimple.cs.meta │ │ ├── Floor.mat │ │ ├── Floor.mat.meta │ │ ├── Material.mat │ │ ├── Material.mat.meta │ │ ├── Robot.cs │ │ ├── Robot.cs.meta │ │ ├── Robots.Samples.Unity.asmdef │ │ ├── Robots.Samples.Unity.asmdef.meta │ │ ├── Scene.unity │ │ ├── Scene.unity.meta │ │ ├── TestProgram.cs │ │ ├── TestProgram.cs.meta │ │ ├── URP-Global.asset │ │ ├── URP-Global.asset.meta │ │ ├── URP-Renderer.asset │ │ ├── URP-Renderer.asset.meta │ │ ├── URP.asset │ │ ├── URP.asset.meta │ │ ├── UnityMeshPoser.cs │ │ ├── UnityMeshPoser.cs.meta │ │ ├── Volume.asset │ │ ├── Volume.asset.meta │ │ ├── csc.rsp │ │ └── csc.rsp.meta │ ├── Packages │ │ ├── manifest.json │ │ └── packages-lock.json │ ├── ProjectSettings │ │ ├── EditorSettings.asset │ │ ├── GraphicsSettings.asset │ │ ├── PackageManagerSettings.asset │ │ ├── ProjectSettings.asset │ │ ├── ProjectVersion.txt │ │ ├── QualitySettings.asset │ │ ├── ShaderGraphSettings.asset │ │ └── URPProjectSettings.asset │ └── README.md └── Robots.Samples.Wpf │ ├── App.xaml │ ├── App.xaml.cs │ ├── HelixMeshPoser.cs │ ├── MainViewModel.cs │ ├── MainWindow.xaml │ ├── MainWindow.xaml.cs │ ├── Robots.Samples.Wpf.csproj │ └── TestProgram.cs ├── src ├── Robots.Grasshopper │ ├── Assets │ │ └── Embed │ │ │ ├── iconAngles.png │ │ │ ├── iconCheckCollisions.png │ │ │ ├── iconCommandParam.png │ │ │ ├── iconCreateFrame.png │ │ │ ├── iconCreateProgram.png │ │ │ ├── iconCreateTarget.png │ │ │ ├── iconCreateTool.png │ │ │ ├── iconCustomCode.png │ │ │ ├── iconCustomCommand.png │ │ │ ├── iconDeconstructProgramTarget.png │ │ │ ├── iconDeconstructTarget.png │ │ │ ├── iconDeconstructToolpath.png │ │ │ ├── iconFrame.png │ │ │ ├── iconFrameParam.png │ │ │ ├── iconGetPlane.png │ │ │ ├── iconGroupCommand.png │ │ │ ├── iconJointsParam.png │ │ │ ├── iconKinematics.png │ │ │ ├── iconMessage.png │ │ │ ├── iconPostProcessorParam.png │ │ │ ├── iconProgramParam.png │ │ │ ├── iconPulseDO.png │ │ │ ├── iconRobot.png │ │ │ ├── iconRobotParam.png │ │ │ ├── iconSave.png │ │ │ ├── iconSetAO.png │ │ │ ├── iconSetDO.png │ │ │ ├── iconSimpleTrail.png │ │ │ ├── iconSimulation.png │ │ │ ├── iconSpeed.png │ │ │ ├── iconSpeedParam.png │ │ │ ├── iconStopCommand.png │ │ │ ├── iconTargetParam.png │ │ │ ├── iconToPlane.png │ │ │ ├── iconTool.png │ │ │ ├── iconToolParam.png │ │ │ ├── iconToolpathParam.png │ │ │ ├── iconURRemote.png │ │ │ ├── iconWait.png │ │ │ ├── iconWaitDI.png │ │ │ └── iconZoneParam.png │ ├── Commands │ │ ├── CustomCommand.cs │ │ ├── Group.cs │ │ ├── Message.cs │ │ ├── PulseDO.cs │ │ ├── SetAO.cs │ │ ├── SetDO.cs │ │ ├── Stop.cs │ │ ├── Wait.cs │ │ └── WaitDI.cs │ ├── ComponentButton.cs │ ├── ComponentForm.cs │ ├── Goos │ │ ├── GH_Command.cs │ │ ├── GH_Frame.cs │ │ ├── GH_Joints.cs │ │ ├── GH_PostProcessor.cs │ │ ├── GH_Program.cs │ │ ├── GH_RobotSystem.cs │ │ ├── GH_Speed.cs │ │ ├── GH_Target.cs │ │ ├── GH_Tool.cs │ │ ├── GH_Toolpath.cs │ │ └── GH_Zone.cs │ ├── Obsolete │ │ ├── CreateProgram.cs │ │ ├── CreateSpeed.cs │ │ └── Custom.cs │ ├── Parameters │ │ ├── CommandParameter.cs │ │ ├── FrameParameter.cs │ │ ├── JointsParameter.cs │ │ ├── PostProcessorParameter.cs │ │ ├── ProgramParameter.cs │ │ ├── RobotSystemParameter.cs │ │ ├── SpeedParameter.cs │ │ ├── TargetParameter.cs │ │ ├── ToolParameter.cs │ │ ├── ToolpathParameter.cs │ │ └── ZoneParameter.cs │ ├── Program │ │ ├── CheckCollisions.cs │ │ ├── CreateProgramVariable.cs │ │ ├── CustomCode.cs │ │ ├── DeconstructProgramTargets.cs │ │ ├── Remote.cs │ │ ├── SaveProgram.cs │ │ ├── Simulation.cs │ │ └── SimulationForm.cs │ ├── RobotSystem │ │ ├── DegreesToRadians.cs │ │ ├── FromPlane.cs │ │ ├── GetPlane.cs │ │ ├── Kinematics.cs │ │ ├── LibraryForm.cs │ │ ├── LibraryParam.cs │ │ ├── LoadFrame.cs │ │ ├── LoadRobotSystem.cs │ │ └── LoadTool.cs │ ├── Robots.Grasshopper.csproj │ ├── RobotsInfo.cs │ ├── Target │ │ ├── ConfigParam.cs │ │ ├── CreateFrame.cs │ │ ├── CreateSpeedAccel.cs │ │ ├── CreateTarget.cs │ │ ├── CreateTool.cs │ │ ├── DeconstructTarget.cs │ │ └── DeconstructToolpath.cs │ ├── Util.cs │ ├── Visualization │ │ └── DrawSimpleTrail.cs │ └── build │ │ └── Robots.Rhino.targets └── Robots │ ├── Commands │ ├── Command.cs │ ├── Custom.cs │ ├── Group.cs │ ├── Message.cs │ ├── PulseDO.cs │ ├── SetAO.cs │ ├── SetDO.cs │ ├── Stop.cs │ ├── Wait.cs │ └── WaitDI.cs │ ├── Geometry │ ├── CircumcentreSolver.cs │ └── Vector6d.cs │ ├── IO │ ├── CleanFile3dm.cs │ ├── FileIO.cs │ ├── OnlineLibrary.cs │ └── Settings.cs │ ├── Kinematics │ ├── CustomKinematics.cs │ ├── KinematicSolution.cs │ ├── MechanicalGroupKinematics.cs │ ├── MechanismKinematics.cs │ ├── NumericalKinematics.cs │ ├── OffsetWristKinematics.cs │ ├── PositionerKinematics.cs │ ├── RobotCellKinematics.cs │ ├── RobotKinematics.cs │ ├── SphericalWristKinematics.cs │ └── TrackKinematics.cs │ ├── Mechanisms │ ├── Custom.cs │ ├── Joints.cs │ ├── Mechanism.cs │ ├── Positioner.cs │ └── Track.cs │ ├── PostProcessors │ ├── DrlPostProcessor.cs │ ├── FanucPostProcessor.cs │ ├── FrankxPostProcessor.cs │ ├── IgusPostProcessor.cs │ ├── JKSPostProcessor.cs │ ├── KRLPostProcessor.cs │ ├── RapidPostProcessor.cs │ ├── URScriptPostProcessor.cs │ └── VAL3PostProcessor.cs │ ├── Program │ ├── CellTarget.cs │ ├── CheckProgram.cs │ ├── Collision.cs │ ├── CustomProgram.cs │ ├── Program.cs │ ├── ProgramTarget.cs │ └── Simulation.cs │ ├── Remotes │ ├── Ftp.cs │ ├── IRemote.cs │ ├── RemoteAbb.cs │ ├── RemoteFranka.cs │ ├── RemoteUR.cs │ ├── RemoteURFtp.cs │ ├── RemoteURPrimaryClient.cs │ ├── URRealTime.cs │ ├── URRealTimeDataExchange.cs │ └── User.cs │ ├── Resources │ ├── URRTDE.csv │ ├── URRealTime.csv │ └── UrpTemplate.txt │ ├── RobotArms │ ├── RobotAbb.cs │ ├── RobotArm.cs │ ├── RobotDoosan.cs │ ├── RobotFanuc.cs │ ├── RobotFranka.cs │ ├── RobotIgus.cs │ ├── RobotJaka.cs │ ├── RobotKuka.cs │ ├── RobotStaubli.cs │ └── RobotUR.cs │ ├── RobotSystems │ ├── CobotSystem.cs │ ├── IO.cs │ ├── IndustrialSystem.cs │ ├── MechanicalGroup.cs │ ├── RobotSystem.cs │ ├── SystemAbb.cs │ ├── SystemDoosan.cs │ ├── SystemFanuc.cs │ ├── SystemFranka.cs │ ├── SystemIgus.cs │ ├── SystemJaka.cs │ ├── SystemKuka.cs │ ├── SystemStaubli.cs │ └── SystemUR.cs │ ├── Robots.csproj │ ├── TargetAttributes │ ├── Frame.cs │ ├── Speed.cs │ ├── TargetAttribute.cs │ ├── Tool.cs │ └── Zone.cs │ ├── Targets │ ├── CartesianTarget.cs │ ├── JointTarget.cs │ ├── Target.cs │ └── Toolpath.cs │ ├── Util.cs │ └── Visualization │ ├── MeshPoser.cs │ ├── RhinoMeshPoser.cs │ └── SimpleTrail.cs └── tests └── Robots.Tests ├── ABBTests.cs ├── Performance.cs ├── Program.cs ├── Robots.Tests.csproj └── URTests.cs /.editorconfig: 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