Read the UR7e controller state without taking over RealRobot.
The RealRobot v1.1 maintainer said he was willing to try a Shadow/read-only UR7e test. Its public GUI backend also creates RTDE Control and IO objects, so this RLSOK tool deliberately does not call that backend. It opens only a separate short-lived RTDE Receive connection for an already-normal session.
Updated · RLSOK
Download the UR7e receive-only observerReview before connecting
The public RealRobot source at 76cc03d defaults to Mock mode. Its normal real-hardware backend creates Dashboard, RTDE Receive, Control and IO interfaces, and disconnect calls stopScript. RLSOK never imports that backend or calls its connect/disconnect methods. It uses only ur_rtde.RTDEReceiveInterface at 10 Hz, then disconnects that receive object. This does make a network connection to the robot's RTDE service; it is not a no-traffic file check.
Only run this after reviewing the script, when the physical UR7e and RealRobot GUI are already connected for ordinary work and another receive connection is acceptable. Do not power on, switch mode, release brakes, home or move the arm for RLSOK. Stop if the extra receive connection conflicts with your setup.
Download and capture once
The 18,805-byte ZIP has SHA-256 dd90ef21fe40f7d7641635448b279084ab20919eb12b7390c9b56251c57c3062. Use the existing Python environment with RealRobot's [ur] optional dependency and PyYAML. Pass the actual Git checkout whose current configs/robots/ur7e.yaml supplies the controller address. The script accepts a private IPv4 address only; it does not save the IP or joint pose in the report. An existing output file is never overwritten.
curl -fLO https://github.com/realitywarden/rlsok/releases/download/realrobot-ur7e-receive-only-v1/rlsok-realrobot-ur7e-receive-only-v1.zip echo 'dd90ef21fe40f7d7641635448b279084ab20919eb12b7390c9b56251c57c3062 rlsok-realrobot-ur7e-receive-only-v1.zip' | sha256sum -c - unzip rlsok-realrobot-ur7e-receive-only-v1.zip cd rlsok-realrobot-ur7e-receive-only-v1 python3 experimental/composable-shadow/realrobot_ur_status.py --source-root /path/to/RealRobot --output realrobot-ur-status.json
Keep the result honest
The report requires advancing RTDE timestamps and finite six-joint telemetry, then records controller modes, selected host-free configuration, checkout context and a digest. Five synthetic checks passed; no physical UR7e run by this maintainer has been reported.
RTDE data alone does not authenticate the intended robot, prove RealRobot's GUI was in real mode, bind the running GUI to the checkout, or show that RLSOK blocked any motion. The owner must separately confirm the physical normal session. This sidecar is a first live connection, not a finished GUI command-gating integration or repeat use.
Sources and verification scope
Source code and guides describe implementation and setup. Release notes identify reported checks and their limits. Publication alone does not establish customer use or physical-robot validation.
Frequently asked questions
Does it start or move the arm?
No. It only makes a short RTDE Receive connection to an already-running controller. It does not construct Control/IO objects or call RealRobot's command backend.
Does the JSON prove the GUI is controlling this physical UR7e?
No. Advancing telemetry proves a receive path, not GUI mode or robot identity. The maintainer must separately confirm the ordinary physical session.
Continue with the relevant guide
Try the local example without an application. For setup or integration help, you can also contact us.