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:
.. toctree:: :maxdepth: 1 architecture/dashboard_client architecture/reverse_interface architecture/rtde_client architecture/script_command_interface architecture/script_sender architecture/trajectory_point_interface architecture/ur_driver
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.
