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README.md

IIWA Manipulation Examples

There are a number of examples contained in these directories.

The following instructions assume Drake was built using bazel.

Prerequisites

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 drake workspace directory.

cd drake

Basic IIWA Simulation

Launch the visualizer

bazel-bin/tools/drake_visualizer

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

Coming back soon - generate plans using the graphical IK interface. See https://github.com/RobotLocomotion/drake/issues/7321 .