My coworker and I are communicating with the UR16e using URCaps and headless mode, respectively. He is utilizing ViSP, which, to his understanding, sends URScripts to the robot, whereas I am using the ur_driver to send information via URCaps. I am working on creating a digital twin, and the driver serves as an essential component of this process. Currently, I am attempting to integrate his work into the digital twin, trying to send the needed end effector information through moveit_servo from MoveIt2, but I am curious to know if there is a method to send URScripts to the virtual robot that is instantiated by the driver.
Additionally, if anyone has more detailed information regarding how the ur_driver transmits information to the robot, that would be greatly appreciated.