Today marks the end of prototype 2.0. To honour the KUKA iiwa we have released an open-source python-based ROS module on GitHub. The iiwapy module offers users of a KUKA iiwa a python API to control the robot using sunrise controller kinematics.
In addition, here is a video demo of using the KUKA iiwa with a standard MoveIt! generated joint stream. We haven’t shared a video using the iiwapy module; instead we encourage users to try it. It offers a much smoother and accurate motion!
This repository is part of a sub-project that has indirectly received funding from the European Union's Horizon 2020 research and innovation programme via an Open Call issued and executed under project TRINITY (grant agreement No 825196).