There are a number of examples contained in these directories.
The following instructions assume Drake was built using bazel.
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
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 RobotLocomotion#7321 .