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lwr-controller is a control interface for Kuka arm based on softMotion. It uses FRI (Fast Research Interface) to communicate with the controller.

lwrc-genom is the control part.
lwri-genom is the interface.

The main idea is to use trajectories to control the robots. It uses softMotion trajectories, but other trajectories can be approximated. Cartesian and join trajectories are accepted. lwri can also compute simple trajectories and then execute them.

By default the system is in simulation mode, so it can be easily tested.

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