Hacking-SotA-UR5

This package launches gazebo world, UR5 arm, table and block on the table. The UR5 arm performs Pick and Place behaviors on the block using MoveIt! and moveit_simple_grasps.

Requirements

1. Ubuntu 16.04
2. ROS Kinetic
3. Gazebo 7.x

UR5 Single Arm + RobotiQ 85 gripper

Rviz:

roslaunch ur5_single_arm_tufts ur5_single_arm_rviz.launch

Gazebo:

roslaunch gazebo_ros empty_world.launch paused:=true use_sim_time:=false gui:=true throttled:=false recording:=false debug:=true
rosrun gazebo_ros spawn_model -file $(rospack find ur5_single_arm_tufts)/urdf/ur5_single_arm.urdf -urdf -x 0 -y 0 -z 0 -model ur5_single_arm

Gazebo + MoveIt Rviz:

roslaunch ur5_single_arm_tufts ur5_single_arm_gazebo.launch

Launch Gazebo and execute trajectories:

roslaunch ur5_single_arm_manipulation execute_trajectory.launch

Execute trajectories (open Gazebo first):

rosrun ur5_single_arm_manipulation execute_trajectory.py

Pick and Place (Method: moveit_simple_grasps)

Gazebo + MoveIt Rviz:

roslaunch ur5_single_arm_manipulation pick_and_place.launch

Grasp server:

roslaunch ur5_single_arm_manipulation grasp_generator_server.launch

Pick and Place:

rosrun ur5_single_arm_manipulation pick_and_place.py

Obstacle Avoidance

roslaunch ur5_single_arm_manipulation planners.launch
rosrun ur5_single_arm_manipulation planners.py

UR5 Dual Arm + RobotiQ 85 gripper

UR5 Dual Arm + RobotiQ 85 gripper

roslaunch ur5_dual_arm_tufts ur5_dual_arm_gazebo.launch

UR5 Right Arm + RobotiQ 85 gripper

roslaunch ur5_dual_arm_tufts ur5_right_arm_gazebo.launch

UR5 Left Arm + RobotiQ 85 gripper

roslaunch ur5_dual_arm_tufts ur5_left_arm_gazebo.launch