Library architecture

This library implements the bare communication protocols used to communicate with the robot, as well as a couple of standalone modules to directly use subsets of the library’s functionality:

• DashboardClient
• ReverseInterface
• RTDEClient
• Script Command Interface
• ScriptSender
• Trajectory Point Interface
• UrDriver

Dataflow overview with UrDriver

The image below shows a rough architecture overview that should help developers to use the different modules present in this library. Note that this is an incomplete view on the classes involved.