Simulation (Webots)

Work in progress

A detailed simulator guide is being prepared.

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.

Key features

• The simulator uses the same ROS 2 topics and interfaces as the real robot.
• The simulation world is set in cobot-setting.yaml → digital_twin.webots.world.
• Start it with cobot run --simulate.

Differences from the real robot

• There are no real safety constraints, so motion can be faster.
• Physics is approximate, including inertia, friction, and elasticity.
• FRI is not used; communication goes through the Webots ROS 2 driver.