RLSOKCompare saved robot settings locally, or manage robot setups and approvals. Choose the option that fits your computer and what you want to do.
Compare saved robot settings.
Windows 10 / 11 · Intel/AMD 64-bit
35.8 MB ZIP · Local Check 1.5.12
Self-contained file checker and Local Setup Assistant. No RLSOK account, Node installation or database needed; live ROS discovery is optional.
Compare saved robot settings.
Ubuntu 22.04 / 24.04 · Intel/AMD 64-bit
45.5 MB download · 137 MB unpacked
Local Check 1.5.12. Includes an example and the local browser assistant; no robot, account or ROS installation is needed for catalog import and template composition.
Compare saved robot settings.
macOS 14+ · Apple silicon or Intel
39.2 MB / 40.4 MB installer · Local Check 1.5.12
Includes the same Local Setup Assistant. Native installation, CLI and the example were checked on Apple silicon and Intel. The installer is unsigned, so first open needs explicit approval in System Settings.
The local workspace and Local Check do different jobs, so their version numbers differ. Choose by the purpose above. See a 3-minute example.
Need help with your first run? Ask in the RLSOK Discord or email support.
Windows and Mac include a one-click example. On Ubuntu, follow the commands below. You can also watch the video on any computer, then use your own project files when you are ready.
See matching settings, a changed setting, and what happens when the example’s approval is withdrawn.
Recorded local demonstration with synthetic inputs; it does not demonstrate live ROS or a physical robot.
The download includes everything this example needs to run. It creates two reports: one with matching settings and one with a changed calibration value.
Already working with your own project? Open interface configuration and project guides.
Open Terminal on Ubuntu. Copy the commands below, paste them and press Enter. They download RLSOK, check the file and run the example. If rlsok-first-check already exists, choose a new directory name in the first line.
mkdir rlsok-first-check && cd rlsok-first-check &&
curl -fLO https://github.com/realitywarden/rlsok/releases/download/v1.5.12/rlsok-local-check-1.5.12-linux-x64.tar.gz &&
curl -fLO https://github.com/realitywarden/rlsok/releases/download/v1.5.12/rlsok-local-check-1.5.12-linux-x64.tar.gz.sha256 &&
sha256sum -c rlsok-local-check-1.5.12-linux-x64.tar.gz.sha256 &&
tar -xzf rlsok-local-check-1.5.12-linux-x64.tar.gz &&
./rlsok-local-check-1.5.12/bin/rlsok profile demo --output first-resultWOULD_ALLOWThe sample matches its approved configuration.WOULD_BLOCKThe changed value no longer matches the approval.Open these files in your text editor: first-result/baseline/report.md and first-result/changed-calibration/report.md to read why. These are sample comparison results; they do not move or stop a robot.
If a download or checksum check fails, stop there. Rerun in a new directory after resolving the error; do not skip verification. Use the download and checksum from the same version.
Have saved settings or source files? Choose your project below. Each guide explains which files to use and what the comparison can tell you. Some guides also need Python or Git.
Create 3 version comparison uses saved text files only. Live Mowgli observation needs your existing ROS 2/message environment, Git and Python; installing this download does not connect a mower for you.
Use the configuration tool to import your discovered interfaces, choose what each one means, map custom fields and export a reusable local Shadow workspace.
The tool supports Twist velocity topics, joint trajectories, absolute or relative Cartesian goals, and allowlisted TP program selectors. It checks your local samples and configuration; it does not set up ROS or connect a physical robot for you.
Configure my interfacesHumble compatibility, private action compatibility and physical operation are not validated. A successful local check is not proof of physical safety or completed robot integration.
Find Windows installation details, updates for an existing installation, or the guide for a specific robot setup.
Go to the supported reference setup
Setup discovers the supported UR5e driver and active controller, binds the observed boundary to the exact release, pairs with Hosted Cloud, waits for independent approval, and writes hash-verified Evidence without sending a controller goal.
Ubuntu 24.04 x86_64, ROS 2 Jazzy, Fast DDS, the official UR5e driver, live JointState and an active scaled_joint_trajectory_controller are required.
Official-driver mock hardware and real DDS validated; physical UR5e validation is pending.
In your Ubuntu terminal:
curl -fsSL https://rlsok.com/install.sh | sudo sh
source /opt/ros/jazzy/setup.bash
export RMW_IMPLEMENTATION=rmw_fastrtps_cpp
rlsok setupPublished Runtime v1.4.5 · source 38478f6a6b8808dbd9c7eeb5085a54492b36bd05. The installer verifies the published SHA-256 and pins the expected digest before changing the active runtime. Setup discovers the model, namespace, joints, controller, state and action inside the documented reference boundary.
/opt/rlsok; the system command is /usr/local/bin/rlsok.~/.config/rlsok. Configuration and Evidence live under ~/.local/share/rlsok.sudo /opt/rlsok/uninstall.sh to remove the runtime. User configuration and Evidence are preserved.Download Ubuntu x64 bundle · Machine-readable public release facts
Add startup update notices and a Check for updates button. The update runs only after your confirmation and SHA-256 verification, and retains your database and configuration.
Previous programs are kept for recovery. Execution approvals stay unchanged.
Windows 1.3.0 cannot show update notices. Follow the guide with your existing installation; do not reinstall over your data.
Upgrade and failure rollback have not been runtime-tested. This update keeps Cloud/API/schema 1.3.0 and does not update the robot Runtime. The guide describes the required unchanged migration baseline.
Install Node.js 22.12+ (with npm 10.5+) and PostgreSQL 16 or 17 first. Download and extract the ZIP into a new folder, read its README, then open Open RLSOK.cmd. Follow the included Install command if setup is needed.
Use your own files and management tools. Saved work stays on this computer. Opening the workspace does not connect or move a robot.
For a new workspace. Keep an existing installation and its data separate; this is not an upgrade over an older workspace.
Version 1.3.2 preserves saved files and configuration when restarting or repairing with the same bundle. Follow its README for Stop, Reinstall and Uninstall. Keep your private state folder and credentials protected.
Already on an older version? Read the existing Windows update guide. Historical packages remain available in the original release; use the new package above for a fresh workspace.
Create an account or sign in to review connected setups, approvals and saved records. Local use of the Windows, Mac and Ubuntu downloads does not need an RLSOK account.
RLSOK provides execution authorization and Evidence. It is not functional safety, an E-stop, a safety PLC, collision avoidance, trajectory safety, or motion planning. It does not replace robot safety mechanisms or operator responsibility.