Drake
iiwa_wsg_simulation.cc File Reference

Implements a simulation of the KUKA iiwa arm with a Schunk WSG 50 attached as an end effector. More...

#include <memory>
#include <gflags/gflags.h>
#include "drake/common/text_logging_gflags.h"
#include "drake/examples/kuka_iiwa_arm/iiwa_common.h"
#include "drake/examples/kuka_iiwa_arm/iiwa_lcm.h"
#include "drake/examples/kuka_iiwa_arm/iiwa_world/iiwa_wsg_diagram_factory.h"
#include "drake/examples/kuka_iiwa_arm/oracular_state_estimator.h"
#include "drake/lcm/drake_lcm.h"
#include "drake/lcmt_iiwa_command.hpp"
#include "drake/lcmt_iiwa_status.hpp"
#include "drake/lcmt_schunk_wsg_command.hpp"
#include "drake/lcmt_schunk_wsg_status.hpp"
#include "drake/manipulation/schunk_wsg/schunk_wsg_constants.h"
#include "drake/manipulation/schunk_wsg/schunk_wsg_controller.h"
#include "drake/manipulation/schunk_wsg/schunk_wsg_lcm.h"
#include "drake/manipulation/util/world_sim_tree_builder.h"
#include "drake/multibody/parsers/urdf_parser.h"
#include "drake/multibody/rigid_body_plant/drake_visualizer.h"
#include "drake/multibody/rigid_body_plant/rigid_body_plant.h"
#include "drake/systems/analysis/runge_kutta2_integrator.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/framework/diagram.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/framework/leaf_system.h"
#include "drake/systems/lcm/lcm_publisher_system.h"
#include "drake/systems/lcm/lcm_subscriber_system.h"
#include "drake/systems/primitives/constant_vector_source.h"
#include "drake/systems/primitives/matrix_gain.h"
#include "drake/util/drakeGeometryUtil.h"
Include dependency graph for iiwa_wsg_simulation.cc:

Namespaces

 drake
 
 drake::examples
 
 drake::examples::kuka_iiwa_arm
 

Functions

 DEFINE_double (simulation_sec, std::numeric_limits< double >::infinity(),"Number of seconds to simulate.")
 
 DEFINE_double (dt, 1e-3,"Integration step size")
 
int main (int argc, char *argv[])
 

Detailed Description

Implements a simulation of the KUKA iiwa arm with a Schunk WSG 50 attached as an end effector.

Like the driver for the physical arm, this simulation communicates over LCM using lcmt_iiwa_status and lcmt_iiwa_command messages for the arm, and the lcmt_schunk_status and lcmt_schunk_command messages for the gripper. It is intended to be a be a direct replacement for the KUKA iiwa driver and the actual robot hardware.

Function Documentation

DEFINE_double ( simulation_sec  ,
std::numeric_limits< double ::infinity(),
"Number of seconds to simulate."   
)
DEFINE_double ( dt  ,
1e-  3,
"Integration step size"   
)
int main ( int  argc,
char *  argv[] 
)

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