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 dependency graph for iiwa_wsg_simulation.cc:

Namespaces

 drake
 NOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file.
 
 drake::examples
 
 drake::examples::kuka_iiwa_arm
 

Functions

 DEFINE_double (simulation_sec, std::numeric_limits< double >::infinity(),"Number of seconds to simulate.")
 
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."   
)
int main ( int  argc,
char *  argv[] 
)