[ZuoCen_Liu]

Hi everyone,
I'm sharing a tool I've been working on to address a common headache: the "Simulation-to-Real" gap on the LBR iiwa.
We've all seen paths that look silky smooth in KUKA.Sim (or RoboDK) but cause E-Stops, vibration, or reducer overheating on the physical controller. 
SIPA (Simulation Integrity & Physics Auditor) is an open-source "black box" auditor that catches these non-physical artifacts early.

It analyzes robot trajectories exported from simulators such as KUKA.Sim and detects non-physical motion artifacts including:

• TCP discontinuous jumps
  
• Z-axis micro jitter
  
• joint acceleration spikes
  
• workspace instability regions
  

SIPA bridges the gap between 'Perfect Simulation' and 'Violent Reality'.

A quick look at a real-case audit (LBR iiwa 14 R820, 100Hz):

Code:

SIPA v2.2 Industrial Solver Audit
Robot: KUKA LBR iiwa 14 R820
Frames: 125
TCP Z Jitter
------------
Std amplitude: 10.96 mm
TCP Jump Events
---------------
124
Frame 0 Jump 84.22 mm
Frame 1 Jump 71.44 mm
Frame 2 Jump 67.84 mm
Frame 3 Jump 73.64 mm
Frame 4 Jump 85.40 mm
Diagnosis: micro oscillation detected
Possible solver divergence

Visual Forensics


Observation: J2 axis experiences a massive acceleration spike (>600rad/s2) near frame 60.


Observation: High-frequency jitter in the Z-axis exceeds 10 mm,indicating potential solver instability.


Observation: Yellow/Pink clusters indicate localized instability zones in the working envelope.


Observation: The 3D path shows geometric continuity, but hides the underlying physical jitter.

Try it in 30 seconds (No install needed):

I've set up a GitHub Codespaces environment so you can run the demo audit directly in your browser without installing Python locally:

👉 https://github.com/ZC502/SIPA

I'm eager to hear if this helps with your welding, gluing, or force-control paths. If you have "problematic" CSVs that crash your iiwa but look fine in sim, I'd love to run them through SIPA to see if we can identify the fingerprint.

Happy auditing!

---

Cross-posted on X here:

https://x.com/liu_zc42321/status/2034189...68136?s=20

[ZuoCen_Liu]

@Albert,Welcome to try SIPA. If you have any problem paths, please feel free to throw a CSV for testing.