Даниил Грабарь
79d88db930
- Created a new document for the Station interface, detailing its menu structure, process data, safety functions, frames, and smartPAD function buttons. - Added a document for RobotPowerControl, explaining its purpose for safely shutting down or restarting the KUKA Sunrise Cabinet controller. - Introduced ServerFriRos2 documentation, outlining its role in establishing an FRI connection between the KUKA LBR iiwa and a ROS 2 computer. - Documented the TeachKuka application, which allows manual teaching of the KUKA LBR iiwa, including position capturing and trajectory recording. - Added an overview of Sunrise Workbench, including installation instructions for Windows and Linux. - Created a section on installing a Windows compatibility tool (PortProton) on Linux. - Documented the installation process for SunriseWorkbench on Linux using PortProton. - Added installation instructions for SunriseWorkbench on Windows. - Created troubleshooting documentation for configuration errors and SSL errors during installation. - Implemented a hook to generate the shared PDF only during the default-language build.
19 lines
751 B
Markdown
19 lines
751 B
Markdown
# Simulation (Webots)
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!!! info "Work in progress"
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A detailed simulator guide is being prepared.
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**Webots** is an open-source robot simulator. LWC uses it as a digital twin of the KUKA LBR IIWA 7, allowing control algorithms to be developed and debugged without a physical robot.
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## Key features
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- The simulator uses the same ROS 2 topics and interfaces as the real robot.
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- The simulation world is set in `cobot-setting.yaml` → `digital_twin.webots.world`.
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- Start it with `cobot run --simulate`.
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## Differences from the real robot
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- There are no real safety constraints, so motion can be faster.
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- Physics is approximate, including inertia, friction, and elasticity.
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- FRI is not used; communication goes through the Webots ROS 2 driver.
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