# Drake: iiwa controller

Official Drake native main example for iiwa controller. Inspect the pinned source and upstream setup before use.

ID: `drake-examples-kuka-iiwa-arm-iiwa-controller-cc`

Record version: `source-1c40dfb484e3e4a727310b7639f2a97238dc5e83e520006b2753954c8464c476`

Hub commit: `3a81abb601c3b4b8fcb9a8bed5ca270e546f5f1a`

## Access

Fetch the pinned repository, verify this source checksum, and use upstream installation and invocation. This record does not install or execute code.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/README.md

## Source and license

- Repository: https://github.com/RobotLocomotion/drake
- Pinned source: https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/examples/kuka_iiwa_arm/iiwa_controller.cc
- Revision: `09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8`
- Path: `examples/kuka_iiwa_arm/iiwa_controller.cc`
- Source SHA256: `1c40dfb484e3e4a727310b7639f2a97238dc5e83e520006b2753954c8464c476`
- Source bytes: 6301
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/RobotLocomotion/drake/blob/09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8/LICENSE.TXT)
- License scope: Selected example source code only; preserve upstream copyright and per-file notices. Robot models, datasets, weights, simulator binaries and third-party dependencies retain their separate licenses.

License SHA256: `68a284dd034413ae0b9c36b269c64e25d3dcf74c9356e0698e184a58ac2fd9e3`

## Requirements

```json
{
  "python": "Python/C++ versions supported by pinned Drake v1.58.0",
  "packages": [
    "Drake v1.58.0 / pydrake from the matching release",
    "Bazel/C++ toolchain for native examples and optional LCM/Meshcat components"
  ],
  "display": "Native examples require matching Bazel targets and model data; Python examples may need Meshcat/LCM. Some examples communicate over LCM; inspect configuration before hardware use.",
  "execution_domain": "simulation-or-hardware",
  "source_imports": [
    "algorithm",
    "cstdlib",
    "drake/common/text_logging.h",
    "drake/examples/kuka_iiwa_arm/lcm_plan_interpolator.h",
    "drake/lcm/drake_lcm.h",
    "drake/lcmt_iiwa_command.hpp",
    "drake/lcmt_iiwa_status.hpp",
    "drake/lcmt_robot_plan.hpp",
    "drake/multibody/parsing/package_map.h",
    "drake/systems/analysis/simulator.h",
    "drake/systems/framework/context.h",
    "drake/systems/framework/diagram.h",
    "drake/systems/framework/diagram_builder.h",
    "drake/systems/lcm/lcm_publisher_system.h",
    "drake/systems/lcm/lcm_subscriber_system.h",
    "gflags/gflags.h",
    "iostream",
    "memory",
    "string",
    "utility"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: examples/kuka_iiwa_arm/iiwa_controller.cc; build the target declared by the pinned upstream build files",
  "notes": "Native examples require matching Bazel targets and model data; Python examples may need Meshcat/LCM. Some examples communicate over LCM; inspect configuration before hardware use. No Hub preparation adapter or measured runtime success is claimed."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Fetched and SHA-256 checked this immutable source; statically parsed Python or located native main; verified pinned license bytes and checked explicit per-file license identifiers. No upstream code executed.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.