C# wrapper for Universal Robots RTDE interface using native P/Invoke. Works with Rhino 7 (.NET 4.8) and Rhino 8 (.NET 8) on Windows and macOS. Zero dependencies - all native libraries included.
Get Started
$ dotnet add package UR.RTDEReadme
UR.RTDE - C# Native Wrapper for Universal Robots
Native C# wrapper for Universal Robots RTDE using a C++ P/Invoke facade. No Python dependency; NuGet package contains managed assemblies and native binaries. Based on ur_rtde v1.6.2.
AI-Built & Liability Disclaimer
- Some content was generated with AI assistance and reviewed by the maintainer.
- Provided AS IS without warranty; see LICENSE.
- User is responsible for safe deployment and compliance with relevant safety procedures; validate in simulation (e.g., URSim) before use.
- Not affiliated with Universal Robots A/S or SDU Robotics; trademarks belong to their owners.
Target Features
Core Capabilities (v1.2.0.0)
- Native C++ P/Invoke; sustained high-frequency streaming.
- No external dependencies; native DLLs included in NuGet.
- Supports Rhino 7 (.NET 4.8) and Rhino 8 (.NET 8).
- Windows x64 tested; macOS arm64 planned.
API Coverage (70+ methods)
- Movement: MoveJ/L, SpeedJ/L, ServoJ/C/L, stop modes.
- Force: ForceMode, ZeroFtSensor, damping/gain controls.
- Jog/Teach: JogStart/Stop, TeachMode, freedrive.
- Kinematics: IK, FK, solution checking.
- Data: position, velocity, force, temperature, current, analog I/O.
- I/O: digital/analog outputs, speed slider.
- Safety: protective/emergency stop, safety status.
- Connection/status helpers.
Status & Coverage
- Validated on URSim e-Series 5.23.0; 22/22 core and 6/6 advanced tests passing (MoveJ/L, ServoJ/L, SpeedJ/L, ForceMode, Jog, TeachMode, protective stop, extended receive data).
- Native P/Invoke path with Robotiq fast-path register bridge; sustained high-frequency streaming confirmed in URSim.
- Focus areas: movement, kinematics, safety, receive data, digital/analog I/O, Robotiq (native, URScript, RTDE bridge).
- Pending: dashboard/script client additions and extended receive extras; see
AGENTS.md.
Robotiq Gripper Support (URCap)
Requires Robotiq URCap on the controller.
- Native driver (port 63352):
RobotiqGripperNativewrapsur_rtde::RobotiqGripper. - URScript client (port 30002):
RobotiqGripperissuesrq_*calls. - RTDE fast path (preferred):
RobotiqGripperRtdeuses RTDE registers; installs a one-time URScript bridge.
Default register mapping: input_int[0] command, input_int[1] value, output_int[0] status, output_int[1] position.
Package Installation
From Local Build
dotnet add package UR.RTDE --source C:\path\to\UR.RTDE\nupkgs
From NuGet.org
dotnet add package UR.RTDE
Native DLLs copy automatically to the output folder.
Quick Start
using UR.RTDE;
// Connect
using var control = new RTDEControl("192.168.1.100");
using var receive = new RTDEReceive("192.168.1.100");
// Move robot
double[] homeQ = { 0, -1.57, 1.57, -1.57, -1.57, 0 };
control.MoveJ(homeQ, speed: 1.05, acceleration: 1.4);
// Read state
double[] q = receive.GetActualQ();
Console.WriteLine($"Joint 0: {q[0]:F4} rad");
Building from Source
Build is verified; see BUILD_SUCCESS.md for details.
Prerequisites
- Visual Studio 2026 (v145 toolset) with Desktop C++ workload
- vcpkg
- CMake (bundled with VS 2026)
- ~7 GB disk for Boost; ~70 minutes initial build
Quick Build
Automated:
cd UR.RTDE
.\build-complete.bat
Manual:
# Boost
cd C:\vcpkg
vcpkg install boost:x64-windows
# ur_rtde
cd C:\path\to\UR.RTDE\build-native\ur_rtde\build
cmake --build . --config Release
# C API facade
cd ..\..\native\facade\build
cmake --build . --config Release
# C# wrapper
cd ..\..\..\
dotnet build src\UR.RTDE -c Release
# NuGet
dotnet pack src\UR.RTDE -c Release -o nupkgs
ur_rtde v1.6.2 source includes Boost 1.89.0 compatibility patches; see BUILD_SUCCESS.md and BUILD_INSTRUCTIONS.md.
Documentation
- Test results and plan summary below.
CHANGELOG.md- Version history and upgrades.AGENTS.md- Agent instructions and roadmap.docs/quickstart.md- Rhino/URSim quick start.docs/troubleshooting.md- Runtime issues.docs/version-matrix.md- Supported versions and RIDs.
Test Flags
ROBOT_IP: overrides the default robot/URSim IP (default:localhost).ENABLE_ROBOTIQ_TESTS: set totrueto run Robotiq tests (requires URCap).ENABLE_FT_TESTS: set totrueto run FT zeroing test (may be unsupported in URSim).
Test Plan (summary)
- Location:
samples/ExtendedFeaturesTest/Program.cs - Coverage: kinematics, extended data, safety status, analog/digital I/O, advanced motion (ServoC/ServoStop/SpeedStop), speed slider.
- Success criteria: 7/7 categories pass; IK round-trip error < 0.001 rad; safety flags valid; I/O round-trips match commands; robot stops cleanly.
- Execution:
dotnet run -c Releasefromsamples/ExtendedFeaturesTest(optional test name filter).
Latest Test Results (URSim snapshot)
- Date/Platform: 2025-10-27, Windows 11, .NET 8.0, URSim e-Series 5.23.0 (Docker, localhost).
- Outcome: 7/7 tests passed; average streaming 98.6 Hz; MoveJ precision +/-0.01 rad; emergency stop immediate; reconnection stable.
Update ur_rtde (quick guide)
- Check new upstream tag/release notes on gitlab.com/sdurobotics/ur_rtde.
- Refresh
build-native/ur_rtdeto the tag (backup old copy); apply Boost/compat patches if still needed. - Rebuild native lib and facade; copy DLLs into
src/UR.RTDE/runtimes/{rid}/native/. - Add any new C API exports, P/Invoke bindings, and wrapper methods; update docs/tests.
- Run test suite (URSim), bump versions, refresh README/AGENTS/CHANGELOG, and pack/publish NuGet.
Release
We use SemVer. This version is 1.2.0.0 (NuGet normalized as 1.2.0).
Steps to publish a GitHub Release (manual):
# Ensure your working tree is clean and up to date
git pull origin main
# Tag the release (match csproj version)
git tag v1.2.0.0 -m "UR.RTDE 1.2.0.0"
git push origin v1.2.0.0
# Create a GitHub Release for tag v1.2.0.0 and upload the nupkg
NuGet publish (manual):
dotnet pack src/UR.RTDE -c Release -o nupkgs
# NuGet normalizes trailing .0 segments, so the file is '1.2.0'
dotnet nuget push nupkgs/UR.RTDE.1.2.0.nupkg -k <API_KEY> -s https://api.nuget.org/v3/index.json
License
MIT License - see LICENSE
Credits: Built on ur_rtde by SDU Robotics
Install now: dotnet add package UR.RTDE