Assuming you have the workspace.
- Spawn the office environment, tables and objects.
roslaunch gen3lite_pickplace office_world_spawner.launch
roslaunch gen3lite_pickplace spawn_table.launch
roslaunch gen3lite_pickplace spawn_objects_to_pick.launch
- Run all services
rosrun kinova_moveit api_server.py
rosrun kinova_moveit grab_server.py
rosrun kinova_moveit find_server.py
- Run client for demo
rosrun kinova_moveit client