# Drake: kuka simulation

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

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

Record version: `source-328c20328289f6587f01f3f0301c78670baa416800553fa77c5741260af8d0d7`

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/kuka_simulation.cc
- Revision: `09bc913cf1af0cdde31073d5f1f7f66ca35ee0d8`
- Path: `examples/kuka_iiwa_arm/kuka_simulation.cc`
- Source SHA256: `328c20328289f6587f01f3f0301c78670baa416800553fa77c5741260af8d0d7`
- Source bytes: 8356
- 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": [
    "drake/common/drake_assert.h",
    "drake/examples/kuka_iiwa_arm/iiwa_common.h",
    "drake/examples/kuka_iiwa_arm/iiwa_lcm.h",
    "drake/examples/kuka_iiwa_arm/kuka_torque_controller.h",
    "drake/geometry/scene_graph.h",
    "drake/lcmt_iiwa_command.hpp",
    "drake/lcmt_iiwa_status.hpp",
    "drake/multibody/parsing/parser.h",
    "drake/systems/analysis/simulator.h",
    "drake/systems/controllers/inverse_dynamics_controller.h",
    "drake/systems/controllers/state_feedback_controller_interface.h",
    "drake/systems/framework/diagram.h",
    "drake/systems/framework/diagram_builder.h",
    "drake/systems/framework/leaf_system.h",
    "drake/systems/lcm/lcm_interface_system.h",
    "drake/systems/lcm/lcm_publisher_system.h",
    "drake/systems/lcm/lcm_subscriber_system.h",
    "drake/systems/primitives/demultiplexer.h",
    "drake/systems/primitives/discrete_derivative.h",
    "drake/visualization/visualization_config_functions.h",
    "gflags/gflags.h",
    "limits",
    "memory",
    "string"
  ]
}
```

## Invocation

```json
{
  "entrypoint": "Native main: examples/kuka_iiwa_arm/kuka_simulation.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.