kinova_manipulation_wiki

Manipulation with Kinova arm

Main packages:

• mbot_kinova_arm_moveit: MoveIt! configuration package. Contains config of joints and move_groups. Stores named arm poses in config/mbot.srdf.
• kinova_vs_manipulation: Implementation of object grasping pipeline using visual-servoing. See [object grasping pipeline](Object grasping pipeline).

Other relevant packages:

• mbot_description: Contains a URDF file which includes the Kinova arm in MBot's body: xacro/mbot_with_right_kinova_arm.urdf.xacro.
• mbot_robot_class: Contains a kinova_manipulation.py component. See [arm operations](Kinova arm operations).
• mbot_states: Contains kinova_manipulation_states.py, to use in competition state machines.

Tutorials:

[Arm operations](Kinova arm operations)

[Object grasping pipeline](Object grasping pipeline)