IIWA Manipulation Examples
There are a number of examples contained in these directories.
The following instructions assume Drake was built using bazel.
Ensure that you have installed the drake visualizer with
bazel build //tools:drake_visualizer
Ensure that you have set your PYTHONPATH.
All instructions assume that you are launching from the
Basic IIWA Simulation
Launch the visualizer
Launch the kuka simulation
Launch the "plan runner" (which produces position commands over time upon receiving a single plan message)
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
Coming back soon - generate plans using the graphical IK interface. See https://github.com/RobotLocomotion/drake/issues/7321 .