diff --git a/include/ur_client_library/example_robot_wrapper.h b/include/ur_client_library/example_robot_wrapper.h
index 06c31c202..08589eb7f 100644
--- a/include/ur_client_library/example_robot_wrapper.h
+++ b/include/ur_client_library/example_robot_wrapper.h
@@ -181,6 +181,8 @@ class ExampleRobotWrapper
 private:
   void handleRobotProgramState(bool program_running);
 
+  void initInternal(const UrDriverConfiguration& driver_config);
+
   //! Dashboard client to interact with the robot
   std::shared_ptr<urcl::DashboardClient> dashboard_client_;
 
diff --git a/src/example_robot_wrapper.cpp b/src/example_robot_wrapper.cpp
index fed647794..896da21c6 100644
--- a/src/example_robot_wrapper.cpp
+++ b/src/example_robot_wrapper.cpp
@@ -41,7 +41,36 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
                                          const std::string& autostart_program, const std::string& script_file)
   : headless_mode_(headless_mode), autostart_program_(autostart_program)
 {
-  primary_client_ = std::make_shared<urcl::primary_interface::PrimaryClient>(robot_ip, notifier_);
+  UrDriverConfiguration driver_config;
+  driver_config.robot_ip = robot_ip;
+  driver_config.script_file = script_file;
+  driver_config.output_recipe_file = output_recipe_file;
+  driver_config.input_recipe_file = input_recipe_file;
+  driver_config.handle_program_state =
+      std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1);
+  driver_config.headless_mode = headless_mode;
+  initInternal(driver_config);
+}
+
+ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std::vector<std::string> output_recipe,
+                                         const std::vector<std::string> input_recipe, const bool headless_mode,
+                                         const std::string& autostart_program, const std::string& script_file)
+  : headless_mode_(headless_mode), autostart_program_(autostart_program)
+{
+  UrDriverConfiguration driver_config;
+  driver_config.robot_ip = robot_ip;
+  driver_config.script_file = script_file;
+  driver_config.output_recipe = output_recipe;
+  driver_config.input_recipe = input_recipe;
+  driver_config.handle_program_state =
+      std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1);
+  driver_config.headless_mode = headless_mode;
+  initInternal(driver_config);
+}
+
+void ExampleRobotWrapper::initInternal(const UrDriverConfiguration& driver_config)
+{
+  primary_client_ = std::make_shared<urcl::primary_interface::PrimaryClient>(driver_config.robot_ip, notifier_);
 
   primary_client_->start();
 
@@ -52,7 +81,7 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
     const DashboardClient::ClientPolicy client_policy = *robot_version < VersionInformation::fromString("10.0.0") ?
                                                             DashboardClient::ClientPolicy::G5 :
                                                             DashboardClient::ClientPolicy::POLYSCOPE_X;
-    dashboard_client_ = std::make_shared<DashboardClient>(robot_ip, client_policy);
+    dashboard_client_ = std::make_shared<DashboardClient>(driver_config.robot_ip, client_policy);
     // Connect the robot Dashboard
     if (!dashboard_client_->connect())
     {
@@ -71,23 +100,14 @@ ExampleRobotWrapper::ExampleRobotWrapper(const std::string& robot_ip, const std:
   {
     throw UrException("Could not initialize robot with primary client");
   }
-
-  UrDriverConfiguration driver_config;
-  driver_config.robot_ip = robot_ip;
-  driver_config.script_file = script_file;
-  driver_config.output_recipe_file = output_recipe_file;
-  driver_config.input_recipe_file = input_recipe_file;
-  driver_config.handle_program_state =
-      std::bind(&ExampleRobotWrapper::handleRobotProgramState, this, std::placeholders::_1);
-  driver_config.headless_mode = headless_mode;
   ur_driver_ = std::make_shared<UrDriver>(driver_config);
 
-  if (!headless_mode && !std::empty(autostart_program))
+  if (!headless_mode_ && !std::empty(autostart_program_))
   {
-    startRobotProgram(autostart_program);
+    startRobotProgram(autostart_program_);
   }
 
-  if (headless_mode || !std::empty(autostart_program))
+  if (headless_mode_ || !std::empty(autostart_program_))
   {
     if (!waitForProgramRunning(500))
     {
diff --git a/tests/test_ur_driver.cpp b/tests/test_ur_driver.cpp
index c9fbf3792..d1398c744 100644
--- a/tests/test_ur_driver.cpp
+++ b/tests/test_ur_driver.cpp
@@ -43,6 +43,7 @@ const std::string SCRIPT_FILE = "../resources/external_control.urscript";
 const std::string OUTPUT_RECIPE = "resources/rtde_output_recipe.txt";
 const std::string INPUT_RECIPE = "resources/rtde_input_recipe.txt";
 const std::vector<std::string> OUTPUT_RECIPE_VECTOR = { "timestamp",
+                                                        "actual_q",
                                                         "actual_qd",
                                                         "speed_scaling",
                                                         "target_speed_fraction",
@@ -66,19 +67,23 @@ const std::vector<std::string> OUTPUT_RECIPE_VECTOR = { "timestamp",
                                                         "robot_mode",
                                                         "safety_mode",
                                                         "robot_status_bits",
-                                                        "safety_status_bits",
                                                         "actual_current",
                                                         "tcp_offset" };
 const std::vector<std::string> INPUT_RECIPE_VECTOR = {
-  "speed_slider_mask",           "standard_digital_output_mask",
-  "standard_digital_output",     "configurable_digital_output_mask",
-  "configurable_digital_output", "tool_digital_output_mask",
-  "tool_digital_output",         "standard_analog_output_mask",
-  "standard_analog_output_type", "standard_analog_output_0",
-  "standard_analog_output_1"
+  "speed_slider_fraction",
+  "speed_slider_mask",
+  "standard_digital_output_mask",
+  "standard_digital_output",
+  "configurable_digital_output_mask",
+  "configurable_digital_output",
+  "tool_digital_output_mask",
+  "tool_digital_output",
+  "standard_analog_output_mask",
+  "standard_analog_output_type",
+  "standard_analog_output_0",
 };
-const std::string OUTPUT_RECIPE_VECTOR_EXCLUDED_VALUE = "actual_q";
-const std::string INPUT_RECIPE_VECTOR_EXCLUDED_VALUE = "speed_slider_fraction";
+const std::string OUTPUT_RECIPE_VECTOR_EXCLUDED_VALUE = "safety_status_bits";
+const std::string INPUT_RECIPE_VECTOR_EXCLUDED_VALUE = "standard_analog_output_1";
 const std::string CALIBRATION_CHECKSUM = "calib_12788084448423163542";
 std::string g_ROBOT_IP = "192.168.56.101";
 bool g_HEADLESS = true;
@@ -95,8 +100,8 @@ class UrDriverTest : public ::testing::Test
       GTEST_SKIP_("Running URCap tests for PolyScope X is currently not supported.");
     }
     // Setup driver
-    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE, INPUT_RECIPE, g_HEADLESS,
-                                                       "external_control.urp", SCRIPT_FILE);
+    g_my_robot = std::make_unique<ExampleRobotWrapper>(g_ROBOT_IP, OUTPUT_RECIPE_VECTOR, INPUT_RECIPE_VECTOR,
+                                                       g_HEADLESS, "external_control.urp", SCRIPT_FILE);
 
     g_my_robot->startRTDECommununication(true);
   }