Legal notice and acknowledgements
Legal notice and acknowledgements for the UnderAutomation Universal Robots SDK.
Legal notice and acknowledgements for the UnderAutomation Universal Robots SDK.
Publisher
The UnderAutomation Universal Robots SDK is developed, published and distributed by UnderAutomation. Copyright (c) UnderAutomation. All rights not expressly granted are reserved.
The publisher and the host of this website are given on the legal information page.
Trademarks
Universal Robots, PolyScope, URScript, URCap and e-Series are trademarks or registered trademarks of Universal Robots A/S or its affiliates. Other product names, company names and brands in this documentation belong to their owners. They are used only to say which equipment the SDK communicates with.
UnderAutomation is an independent software publisher. It is not affiliated with, endorsed by or sponsored by Universal Robots A/S or its affiliates. This SDK is not a Universal Robots product. Universal Robots does not certify, review or support it. UnderAutomation provides the support of the SDK.
Protocols and interoperability
The SDK communicates with Universal Robots controllers through the interfaces that Universal Robots documents: RTDE, the Primary Interface, the Dashboard Server, XML-RPC, the Interpreter Mode, the REST API of PolyScope X, sockets, and SSH and SFTP.
The SDK contains no Universal Robots source code and no Universal Robots binary. Some interfaces must be enabled in the settings of the robot, and some depend on the PolyScope version. Your robot must have the settings and the version that the features you use need.
Responsible use
The SDK can change the state of an industrial robot: it can power the arm, release the brakes, load and run programs, send URScript and write I/O. A robot is dangerous machinery.
The safety of people and machines is the responsibility of the integrator. The SDK does not replace a safety system. You are responsible for the risk assessment of your application and for its compliance with the machinery regulations that apply to you. Test your application with the UR simulator before you run it on a real robot.
Third-party components
The SDK contains code from the projects below. UnderAutomation modified this code (namespaces renamed, code reduced and adapted) and the DLL is obfuscated. These components stay under their own licenses. The copyright notices and the full license texts are in the file THIRD-PARTY-NOTICES.txt, delivered with the DLL, the NuGet package, the Python package and the source code package.
| Component | Copyright | License | Used in the DLL for |
|---|---|---|---|
| SSH.NET | Renci, Oleg Kapeljushnik, Gert Driesen and contributors | MIT | SSH and SFTP client |
| Bouncy Castle | The Legion of the Bouncy Castle Inc. | Bouncy Castle License (MIT) | Elliptic curve cryptography of the SSH client |
| Chaos.NaCl | Christian Winnerlein, Andrew Moon, Daniel J. Bernstein | Public domain | Ed25519 and Curve25519 of the SSH client |
| Mono (BigInteger, DataConverter) | Novell, Inc., Xamarin Inc. | MIT | Big integers, binary conversions |
| Dynamic Language Runtime (part of the Mono BigInteger) | Microsoft Corporation | Ms-PL | Big integers |
| PipeStream | James Kolpack | MIT | SSH client |
| BCrypt | Damien Miller, Ryan D. Emerle | ISC | Private key files of the SSH client |
| Serpent S-boxes | Brian Gladman, Sam Simpson | Free use with acknowledgement | Serpent cipher of the SSH client |
| Ulib (bit count routine) | Zilong Tan | MIT | Big integers |
| .NET runtime (ArrayPool, HashAlgorithm) | .NET Foundation and Contributors | MIT | Buffers, hash algorithms |
| SharpCompress | Adam Hathcock | MIT | Archives and compression |
| DotNetZip (zlib port, through SharpCompress) | Dino Chiesa and Microsoft Corporation | Ms-PL | Deflate, GZip and Zlib streams |
| jzlib | ymnk, JCraft, Inc. | BSD 3-clause | Base of the zlib port |
| zlib | Jean-loup Gailly and Mark Adler | zlib License | Base of the zlib port |
In the source code package, the files of these components keep their original headers. The DotNetZip files stay under the Ms-PL, with the full text of the license next to them.
These packages are installed by NuGet or pip from their publishers. UnderAutomation does not redistribute them:
| Component | Copyright | License | Used by |
|---|---|---|---|
| System.Text.Encoding.CodePages | .NET Foundation and Contributors | MIT | netstandard2.0 build |
| pythonnet | the contributors of the Python.NET project | MIT | Python package only |
References
The inverse kinematics solver of the SDK is an analytical implementation of the model described in this publication:
- Chen et al., IEEE ICASI 2017. IEEE Xplore.
License of the SDK
The use of the SDK is governed by its end user license agreement.