Reachability Test

Manipulator reachability test with the randomly generated pose.

Project year: 2018

The main idea was to create a simple robot reachability test tool. Here, we generate the random pose in 6D from workspace volume and test it for reachability. If it is reachable, then the trajectory is executed. ROS and Moveit! were used in the project.

Feel free to check out the video and code.