There are a number of examples contained in these directories.
The following instructions assume Drake was built using bazel.
All instructions assume that you are launching from the drake
workspace directory.
cd drake
Open a visualizer window
bazel run //tools:meldis -- --open-window &
Launch the kuka simulation
bazel-bin/examples/kuka_iiwa_arm/kuka_simulation
Launch the "plan runner" (which produces position commands over time upon receiving a single plan message)
bazel-bin/examples/kuka_iiwa_arm/kuka_plan_runner
Command the robot to move the end effector
bazel-bin/examples/kuka_iiwa_arm/move_iiwa_ee -x 0.8 -y 0.3 -z 0.25 -yaw 1.57