Can this algorithm be adapted to new UR5?

[gsbandy24]

I am attempting to replicate the results here for my studies while applying the algorithm to more unique/novel objects in real world testing.

However, it was just explained to me that the code used by A. Zeng was for a very old UR5 firmware and the communication message format is radically different from any UR robot with recent firmware.

Does anyone know how difficult/how possible it is to make VPG for a ur bot with newly updated firmware