Is it possible to integrate JHU cisst package and SAW platform into CoSTAR for KUKA LBR iiwa robot?

[pengchengu]

Hi,
For surgical assistant robot research, is it possible to interagte JHU cisst package and SAW platform into CoSTAR for KUKA LBR iiwa, as it can communicate with medical devices like NDI tracker and ATI Force sensor?