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README.md

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+# UR10 Robot REST API
+### /
+    Index
+### /cmd
+    Execute ur scripts
+    Parameters: "script": urscript
+                "CPEE-CALLBACK": ..
+### /cmdq
+    Current command queue in json format
+### /log/:from
+    Logfile ringbuffer since :from(int)
+### /freedrive
+    Enable freedrive/teach - Mode
+    
+