Jaco Arm Examples

This directory contains several examples of drake simulating or interacting with a Kinova Jaco arm.

Simulation

Prerequisites

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

cd drake

Ensure that you have installed the drake visualizer with

bazel build //tools:drake_visualizer

Build the examples in this directory:

bazel build //examples/kinova_jaco_arm/...

Examples

Before running any examples, launch the visualizer:

bazel-bin/tools/drake_visualizer

The following examples of a simulated jaco are present:

bazel-bin/examples/kinova_jaco_arm/jaco_simulation

Simulates a Jaco arm with an inverse dynamics controller, communicating via LCM.

Control

bazel-bin/examples/kinova_jaco_arm/jaco_controller

Controls a Jaco arm over LCM using joint velocities. Requires a suitable LCM based simulator (such as the example in this directory) or driver listening for lcmt_jaco_command messages and publishing lcmt_jaco_status, along with a planner sending robot plan messages.

bazel-bin/examples/kinova_jaco_arm/move_jaco_ee

Calculates a motion plan for the Jaco arm, to the end effector position specified on the command line (with a reachable default position for testing) and sends the resulting plan over LCM. Requires jaco_controller to execute the resulting plan.