diff --git a/debian/python3-urx.install b/debian/python3-urx.install
index 22b35a2..9710648 100644
--- a/debian/python3-urx.install
+++ b/debian/python3-urx.install
@@ -1 +1 @@
-urx /usr/lib/python3/dist-packages
+urx/*.py /usr/lib/python3/dist-packages/urx
diff --git a/tracker.py b/tracker.py
deleted file mode 100644
index 1faf834..0000000
--- a/tracker.py
+++ /dev/null
@@ -1,48 +0,0 @@
-import time
-from multiprocessing import Process, Queue, Event
-
-
-class Tracker(Process):
-    def __init__(self):
-        self._queue = Queue()
-        Process.__init__(self, args=(self._queue,))
-        self._stop = Event()
-        self._finished = Event()
-
-    def run(self):
-        print("Running")
-        while not self._stop.is_set():
-            time.sleep(1)
-        self._queue.put([1,2,3,4,5,"lkj"])
-        self._finished.set()
-        print("Closing")
-
-    def start_acquisition(self):
-        self.start()
-
-    def stop_acquisition(self):
-        self._stop.set()
-
-    def get_result(self):
-        self._stop.set()
-        while not self._finished.is_set():
-            time.sleep(0.1)
-        return self._queue.get()
-
-    def shutdown(self):
-        self._stop.set() # just to make sure 
-        self.join()
-
-
-if __name__ == "__main__":
-    p = Tracker()
-    try:
-        p.start_acquisition()
-        time.sleep(3)
-        p.stop_acquisition()
-        a = p.get_result()
-        print("Result is: ", a)
-    finally:
-        p.shutdown()
-
-
diff --git a/urx/urrtmon.py b/urx/urrtmon.py
index 6cca635..c08e7fd 100644
--- a/urx/urrtmon.py
+++ b/urx/urrtmon.py
@@ -47,8 +47,6 @@ class URRTMonitor(threading.Thread):
         self._qTarget = None
         self._tcp = None
         self._tcp_force = None 
-        # self._fwkin = pymoco.kinematics.FrameComputer(
-        #    robotDef=pymoco.robot.getRobotType('UR6855A'))
 
     def __recv_bytes(self, nBytes):
         ''' Facility method for receiving exactly "nBytes" bytes from
@@ -108,7 +106,6 @@ class URRTMonitor(threading.Thread):
         if wait:
             self.wait()
         with self._dataAccess:
-            # tcf = self._fwkin(self._qActual)
             tcf = self._tcp
             if timestamp:
                 return self._timestamp, tcf
@@ -155,6 +152,17 @@ class URRTMonitor(threading.Thread):
         with self._dataEvent:
             self._dataEvent.notifyAll()
 
+    def get_all_data(self, wait=True):
+        """
+        return all data parsed from robot as dict
+        The content of the dict may vary depending on version of parser and robot controller
+        but their name should stay constant
+        """
+        if wait:
+            self.wait()
+        with self._dataAccess:
+            return dict(timestamp=self._timestamp, qActual=self._qActual, qTarget=self._qTarget, tcp=self._tcp, tcp_force=self._tcp_force)
+
     def stop(self):
         #print(self.__class__.__name__+': Stopping')
         self._stop = True
@@ -170,12 +178,6 @@ class URRTMonitor(threading.Thread):
             self.__recv_rt_data()
         self._rtSock.close()
 
-def logDeviation(logDT=0.1):
-    np.set_printoptions(precision=4)
-    while True:
-        print urRTMon.getTarget()-urRTMon.getActual()
-        time.sleep(logDT)
-
 i = 1
 def dumptcp():
     global i