The Robot Learning Lab SDK
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gazebo_grasp_plugin
iiwa7_ikfast_manipulator_plugin
rll_control
rll_description
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rll_moveit_config
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README.md

README.md

Robot Learning Lab SDK

Software Development Kit for Robot Learning Lab (RLL) projects

Components

  • Model of a RLL robot work cell
  • Gazebo, MoveIt! and ROS Control configuration
  • Documentation of the web API
  • Standardized runner for all projects
  • Move Interface for controlling the robot
    • Ability to send joint or cartesian goal positions
    • Support for pick and place tasks
    • Cartesian or point to point trajectories possible
    • Usable as a base for project-specific interfaces

Usage

The SDK is intended to be used as a dependency of a RLL project. All components are ROS packages and can be built using Catkin.

The Gazebo simulation can be launched together with MoveIt! and an Rviz visualization using

roslaunch rll_moveit_config moveit_planning_execution.launch

The Move Interface is started with

roslaunch rll_move move_iface.launch

Move services are available in the /iiwa/ namespace, e.g. /iiwa/pick_place or /iiwa/move_lin.

If you want to improve the web API description, have a look at the ReadMe.

Acknowledgements

The description, control and Gazebo config was inspired by the iiwa stack.