Skip to content
Branch: master
Find file History
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Type Name Latest commit message Commit time
Failed to load latest commit information.

Geomstats Robotics Application

This is a simulation and controller of a robot to use with geomstats application It uses gazebo for the simulation and Stanford Robotics Lab software for the control part.

The application runs a simulation and controller of a KUKA IIWA14 robot. The controller is an operational space position and orientation controller at the end effector of the robot with a nullspace pose task that keeps the elbow up.

The controller reads the desired position and orientation from a redis server, populated by geomstat applications


This application depends on:

  • c++ compiler, cmake [brew, apt-get]
  • geomstats: pip3 install geomstats
  • Gazebo versions 7 to 9
  • sai2-model: Install from dependencies/sai2-model
  • sai2-urdfreader: Install from dependencies/sai2-urdfreader
  • redis: Redis server [brew install redis, apt-get install redis]
  • hiredis: Redis minimalist client [brew install hiredis, apt-get install ]
  • eigen3: Linear algebra [brew, apt-get]
  • redis for python3 : pip3 install redis

Build instructions

mkdir build
cd build
cmake .. && make -j2


  • First, make sure the redis server is running. To run it type in a terminal
  • Second, run the simulation and the controller using the provided script
  • Third, run the python script
You can’t perform that action at this time.