IIWA Manipulation Examples
==========================

There are a number of examples contained in these directories.

The following instructions assume Drake was
[built using bazel](https://drake.mit.edu/bazel.html?highlight=bazel).

Prerequisites
-------------

All instructions assume that you are launching from the `drake`
workspace directory.
```
cd drake
```

Open a visualizer window
```
bazel run //tools:meldis -- --open-window &
```


Basic IIWA Simulation
---------------------

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
```
