This package allows to simulate the robot motion dynamics of the KUKA Lightweight Robot IV. For this purpose, python-lwrsim interconnects the following parts:
- A dynamic robot model
This is provided by one of the lwrsundialsmodels C-libraries. Each uses a different model of the robot dynamics, i.e. describing 2, 3 or all 7 joints of the robot. They all provide a function to compute the system dynamics and a function to compute the respective Jacobian. Depending on the chosen model, the respective functions are supplied to the ODE solver, see the next point.
- An ODE Solver
In particular, the implicit ODE solver SUNDIALS IDA is used. To use this solver from Python, the python-sundials package is used
- An interface library (optional)
Using the fripy library, the python-lwrsim package is able to emulate the Fast Research Interface of the real robot.