Perform the setup and prepare WAM robots to use the the motion planning and obstacle avoid-
ance facilities present at the MoveIt! framework. In particular, determine the configurations
and API function calls to set the target of the robot arm with joint state and add collision
objects programatically, without using the graphical interface. Supporting page with videos:
Gonzàlez, A.; Alenyà, G. "The MoveIt motion planning framework configuration for the IRI WAM robot". 2013.