Universal robot with robotiq hand workspace

Build

source /opt/ros/kinetic/setup.bash
cd ur_ws/src
wstool update
cd ../
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
catkin build

Run

source devel/setup.bash
roslaunch ur_robotiq_gazebo ur_robotiq_gazebo.launch

Grasp

The other terminal

rosrun ur_robotiq_manipulation grasp_object.py

Camera Images

RGB image

Depth image

Multiple Arms