The MoveIt motion planning framework configuration for the IRI WAM robot
Document typeExternal research report
Rights accessOpen Access
Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoid- ance facilities present at the MoveIt! framework. In particular, determine the configurations and API function calls to set the target of the robot arm with joint state and add collision objects programatically, without using the graphical interface. Supporting page with videos: http://www.iri.upc.edu/groups/perception/MoveItForIRIWam
CitationGonzàlez, A.; Alenyà, G. "The MoveIt motion planning framework configuration for the IRI WAM robot". 2013.
Is part ofIRI-TR-13-03