• kinematic rechability Moveit wiki

Install OpenRave: ##

• sudo add-apt-repository ppa:openrave/release
• sudo apt-get update
• sudo apt-get install openrave

Example run $:openrave.py --example hanoi

Covert the Robot xacro to urdf to collada ##

rosrun xacro xacro.py robot.urdf.xacro > robot.urdf rosrun collada_urdf urdf_to_collada robot.urdf robot.dae //Install the ros-groovy/hydro-collad-urdf package

Run openrave reachabilty

create Robotname.robot.xml contains the Link 1 and link6 $openrave.py --database kinematicreachability --robot=robots/Robotname.robot.xml