Simulation Control

In order to work with the real robot setup, please use sim-devel branch.

Simulated Robot Execution

1. Run Gazebo

roslaunch robot_gazebo dual_ur_robotiq.launch world:=table_box

2. Run Moveit! and Rviz

roslaunch robot_moveit_config robot_moveit_planning_execution.launch sim:=true
roslaunch robot_moveit_config moveit_rviz.launch 

Demo

Pick and place simulation

rosrun bimanual_manipulation pick_place_collision