diff --git a/CMakeLists.txt b/CMakeLists.txt
index 1e57ab5..384e68e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -19,10 +19,10 @@ add_library(${PROJECT_NAME} SHARED
     src/dqrobotics/interfaces/coppeliasim/internal/_zmq_wrapper.cpp
     src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.cpp
     src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.cpp
-#    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.cpp
-#    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
-#    src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
-#    src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
+    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.cpp
+    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
+    src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
+    src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
     submodules/zmqRemoteApi/clients/cpp/RemoteAPIClient.cpp
 
   )
@@ -70,13 +70,13 @@ endif()
 INSTALL(FILES
     include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.h
     include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.h
-#    include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.h
+    include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.h
     DESTINATION "include/dqrobotics/interfaces/coppeliasim")
 
 # Robots
 INSTALL(FILES
-#    include/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.h
-#    include/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.h
+    include/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.h
+    include/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.h
     DESTINATION "include/dqrobotics/interfaces/coppeliasim/robots")
 
 ################################################################
@@ -87,14 +87,14 @@ INSTALL(FILES
 INSTALL(FILES
     src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.cpp
     src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.cpp
-#    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
-#    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.cpp
+    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
+    src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.cpp
     DESTINATION "src/dqrobotics/interfaces/coppeliasim")
 
 # robots folder
 INSTALL(FILES
-#    src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
-#    src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
+    src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
+    src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
     DESTINATION "src/dqrobotics/interfaces/coppeliasim/robots")
 
 
diff --git a/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.h b/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.h
index 180d44f..35717b9 100644
--- a/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.h
+++ b/include/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.h
@@ -27,33 +27,35 @@ This file is based on DQ Robotics.
 #pragma once
 #include <vector>
 #include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQ.h>
+#include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimInterfaceZMQExperimental.h>
 #include <dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobot.h>
 
+#include<memory>
+
 namespace DQ_robotics
 {
 class DQ_CoppeliaSimRobotZMQ: public DQ_CoppeliaSimRobot
 {
 private:
-    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ> interface_sptr_;
-    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ::experimental> coppeliasim_interface_sptr_;
-    DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE joint_control_mode_;
+    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> coppeliasim_interface_sptr_;
+    DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE joint_control_mode_;
     bool robot_is_used_as_visualization_tool_;
 
-    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ::experimental> _get_exp_interface_sptr();
+    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> _get_exp_interface_sptr();
 
     void _initialize_jointnames_from_coppeliasim();
 
 protected:
-    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ> _get_interface_sptr();
+    std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> _get_interface_sptr();
 
     DQ_CoppeliaSimRobotZMQ(const std::string& robot_name,
-                                 const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ>& interface_sptr);
+        const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental>& coppeliasim_interface_sptr);
 private:
-    void _set_operation_modes(const DQ_CoppeliaSimInterfaceZMQ::JOINT_MODE& joint_mode,
-                             const DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE& joint_control_mode);
+    void _set_operation_modes(const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_MODE& joint_mode,
+                             const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE& joint_control_mode);
     void _set_robot_as_visualization_tool();
-    void _set_robot_as_dynamic_tool(const DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE& joint_control_mode);
-    void _set_joint_control_type(const DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE& joint_control_mode);
+    void _set_robot_as_dynamic_tool(const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE& joint_control_mode);
+    void _set_joint_control_type(const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE& joint_control_mode);
     void _set_control_inputs(const VectorXd& u);
 
 public:
diff --git a/include/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.h b/include/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.h
index b23ed08..a162d9d 100644
--- a/include/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.h
+++ b/include/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.h
@@ -35,7 +35,7 @@ class FrankaEmikaPandaCoppeliaSimZMQRobot: public DQ_CoppeliaSimRobotZMQ
 {
 public:
     FrankaEmikaPandaCoppeliaSimZMQRobot(const std::string& robot_name,
-                                        const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ>& coppeliasim_interface_sptr
+        const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental>& coppeliasim_interface_sptr
                                      );
     DQ_SerialManipulatorMDH kinematics();
 };
diff --git a/include/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.h b/include/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.h
index e5f1b4f..40936b3 100644
--- a/include/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.h
+++ b/include/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.h
@@ -38,8 +38,8 @@ class URXCoppeliaSimZMQRobot: public DQ_CoppeliaSimRobotZMQ
 
 public:
     URXCoppeliaSimZMQRobot(const std::string& robot_name,
-                        const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ>& coppeliasim_interface_sptr,
-                        const MODEL& model = MODEL::UR5);
+        const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental>& coppeliasim_interface_sptr,
+        const MODEL& model = MODEL::UR5);
     DQ_SerialManipulatorDH kinematics();
 private:
     URXCoppeliaSimZMQRobot::MODEL model_;
diff --git a/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp b/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
index f9fa673..ddd10b4 100644
--- a/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
+++ b/src/dqrobotics/interfaces/coppeliasim/DQ_CoppeliaSimRobotZMQ.cpp
@@ -45,26 +45,26 @@ void DQ_CoppeliaSimRobotZMQ::_initialize_jointnames_from_coppeliasim()
  * @param interface_sptr
  */
 DQ_CoppeliaSimRobotZMQ::DQ_CoppeliaSimRobotZMQ(const std::string &robot_name,
-                                                           const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ> &interface_sptr)
-    :DQ_CoppeliaSimRobot(robot_name), interface_sptr_{interface_sptr}
+    const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental>& coppeliasim_interface_sptr)
+    :DQ_CoppeliaSimRobot(robot_name)
 {
-    coppeliasim_interface_sptr_ = std::make_shared<DQ_CoppeliaSimInterfaceZMQ::experimental>(interface_sptr_);
+    coppeliasim_interface_sptr_ = coppeliasim_interface_sptr;
     _initialize_jointnames_from_coppeliasim();
     // By Default, the robot is controlled by joint positions with both the dynamic engine
     // and the stepping mode enabled.
-    joint_control_mode_ = DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::POSITION;
+    joint_control_mode_ = DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::POSITION;
     robot_is_used_as_visualization_tool_ = false;
 }
 
-std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ> DQ_CoppeliaSimRobotZMQ::_get_interface_sptr()
+std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> DQ_CoppeliaSimRobotZMQ::_get_interface_sptr()
 {
-    return interface_sptr_;
+    return coppeliasim_interface_sptr_;
 }
 
 /**
  * @brief DQ_SerialCoppeliaSimRobot::_initialize_jointnames_from_coppeliasim
  */
-std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ::experimental> DQ_CoppeliaSimRobotZMQ::_get_exp_interface_sptr()
+std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> DQ_CoppeliaSimRobotZMQ::_get_exp_interface_sptr()
 {
     return coppeliasim_interface_sptr_;
 }
@@ -74,7 +74,7 @@ std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ::experimental> DQ_CoppeliaSimRobotZMQ
  * @param joint_mode
  * @param joint_control_mode
  */
-void DQ_CoppeliaSimRobotZMQ::_set_operation_modes(const DQ_CoppeliaSimInterfaceZMQ::JOINT_MODE &joint_mode, const DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE &joint_control_mode)
+void DQ_CoppeliaSimRobotZMQ::_set_operation_modes(const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_MODE &joint_mode, const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE &joint_control_mode)
 {
     joint_control_mode_ = joint_control_mode;
     _get_exp_interface_sptr()->set_joint_modes(jointnames_, joint_mode);
@@ -93,7 +93,7 @@ void DQ_CoppeliaSimRobotZMQ::_set_robot_as_visualization_tool()
     _get_interface_sptr()->set_stepping_mode(false);
     _get_exp_interface_sptr()->enable_dynamics(false);
     _get_exp_interface_sptr()->set_joint_modes(jointnames_,
-                                           DQ_CoppeliaSimInterfaceZMQ::JOINT_MODE::KINEMATIC);
+                                           DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_MODE::KINEMATIC);
     robot_is_used_as_visualization_tool_ = true;
 }
 
@@ -105,7 +105,7 @@ void DQ_CoppeliaSimRobotZMQ::_set_robot_as_visualization_tool()
  *
  * @param joint_control_mode Use POSITION, VELOCITY or TORQUE.
  */
-void DQ_CoppeliaSimRobotZMQ::_set_robot_as_dynamic_tool(const DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE &joint_control_mode)
+void DQ_CoppeliaSimRobotZMQ::_set_robot_as_dynamic_tool(const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE &joint_control_mode)
 {
     _get_exp_interface_sptr()->enable_dynamics(true);
     _get_interface_sptr()->set_stepping_mode(true);
@@ -117,9 +117,9 @@ void DQ_CoppeliaSimRobotZMQ::_set_robot_as_dynamic_tool(const DQ_CoppeliaSimInte
  *        of the robot.
  * @param joint_control_mode Use POSITION, VELOCITY or TORQUE.
  */
-void DQ_CoppeliaSimRobotZMQ::_set_joint_control_type(const DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE &joint_control_mode)
+void DQ_CoppeliaSimRobotZMQ::_set_joint_control_type(const DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE &joint_control_mode)
 {
-    _set_operation_modes(DQ_CoppeliaSimInterfaceZMQ::JOINT_MODE::DYNAMIC, joint_control_mode);
+    _set_operation_modes(DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_MODE::DYNAMIC, joint_control_mode);
 }
 
 /**
@@ -135,21 +135,21 @@ void DQ_CoppeliaSimRobotZMQ::_set_control_inputs(const VectorXd &u)
     {
         switch (joint_control_mode_)
         {
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::FREE:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::FREE:
             break;
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::FORCE:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::FORCE:
             break;
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::VELOCITY:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::VELOCITY:
             _get_interface_sptr()->set_joint_target_velocities(jointnames_, u);
             break;
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::POSITION:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::POSITION:
             _get_interface_sptr()->set_joint_target_positions(jointnames_, u);
             break;
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::SPRING:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::SPRING:
             break;
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::CUSTOM:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::CUSTOM:
             break;
-        case DQ_CoppeliaSimInterfaceZMQ::JOINT_CONTROL_MODE::TORQUE:
+        case DQ_CoppeliaSimInterfaceZMQExperimental::JOINT_CONTROL_MODE::TORQUE:
             _get_interface_sptr()->set_joint_torques(jointnames_, u);
             break;
         }
diff --git a/src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp b/src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
index 4a84524..b846f12 100644
--- a/src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
+++ b/src/dqrobotics/interfaces/coppeliasim/robots/FrankaEmikaPandaCoppeliaSimZMQRobot.cpp
@@ -37,7 +37,7 @@ namespace DQ_robotics
  * @param robot_name
  * @param coppeliasim_interface_sptr
  */
-FrankaEmikaPandaCoppeliaSimZMQRobot::FrankaEmikaPandaCoppeliaSimZMQRobot(const std::string &robot_name, const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ> &coppeliasim_interface_sptr)
+FrankaEmikaPandaCoppeliaSimZMQRobot::FrankaEmikaPandaCoppeliaSimZMQRobot(const std::string &robot_name, const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> &coppeliasim_interface_sptr)
     :DQ_CoppeliaSimRobotZMQ(robot_name, coppeliasim_interface_sptr)
 {
 
diff --git a/src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp b/src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
index 3bcace5..a0075b0 100644
--- a/src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
+++ b/src/dqrobotics/interfaces/coppeliasim/robots/URXCoppeliaSimZMQRobot.cpp
@@ -70,8 +70,8 @@ MatrixXd _get_dh_matrix(const URXCoppeliaSimZMQRobot::MODEL& model)
 }
 
 URXCoppeliaSimZMQRobot::URXCoppeliaSimZMQRobot(const std::string &robot_name,
-                                         const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQ> &coppeliasim_interface_sptr,
-                                         const MODEL &model)
+                                               const std::shared_ptr<DQ_CoppeliaSimInterfaceZMQExperimental> &coppeliasim_interface_sptr,
+                                               const MODEL &model)
     :DQ_CoppeliaSimRobotZMQ(robot_name, coppeliasim_interface_sptr), model_(model)
 {