The Prompt

Model the KUKA UR5 robot dynamics, attach relevant frames and calculate the forward kinematics, inverse kinematics, visualization of the frames, trajectory generation and odometry.

1. Code for Forward kinematics was implemented using the Product of Exponentials.

2. Code for Inverse kinematics was implemented using Newton-Raphson algorithm for root finding

3. The robotics simulator CoppeliaSim was used for developing the visualization of the robot.

4. Quintic time scaling is used for Trajectory generation.

5. Odometry is implemented as a transformation matrix.