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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Project administrator: Daniel Sidobre

Developer: Alberto Dallolio, Alexandre Boeuf, Andrea Testa, Andreas Orthey, Anthony Mallet, Antonio Franchi, Ariel Podlubne, Arnaud Degroote, Artur Maligo, Aurélie Clodic, Benjamin Vadant, Burak Yuksel, Christelle Ecrepont, Christophe Reymann, Daniel Sidobre, Ellon Paiva Mendes, Florent Lamiraux, François Magimel, Félix Ingrand, Gaétan Laure, Grégoire Milliez, Guilhem Buisan, Guilhem Saurel, Harmish Khambhaita, Hermes Tello Chavez, Jean-Paul Marcade, Jose Luis Sanchez Lopez, Joseph Mirabel, Jules Waldhart, Julia Cohen, Justin Carpentier, Jérôme Manhes, Kévin Desormeaux, Luigi Bassetta, Mahmoud Hamandi, Malik Ghallab, Mamoun Gharbi, Marco Tognon, Markus Ryll, Martin Jacquet, Martin Lagleize, Matthieu Herrb, Michelangelo Fiore, Michele Furci, Nicolas Mansard, Nicolas Staub, Olivier Roussel, Olivier Stasse, Patrick Danes, Pierre Narvor, Pierrick Koch, Quentin Labourey, Quentin Sable, Ran Zhao, Raphaël Lallement, Renaud Viry, Rohan Budhiraja, Sandra Devin, Simon Lacroix, Subodh Mishra, Victor Arellano, Wuwei He, Yannick Riou, robots