Namespaces
	pick_and_place

Classes
class	IiwaAndWsgPlantWithStateEstimator
	A custom systems::Diagram composed of a systems::RigidBodyPlant, a systems::controllers::InverseDynamicsController, and a number of OracularStateEstimation systems. More...

class	IiwaCommandReceiver
	Handles lcmt_iiwa_command messages from a LcmSubscriberSystem. More...

class	IiwaCommandSender
	Creates and outputs lcmt_iiwa_command messages. More...

class	IiwaContactResultsToExternalTorque
	A translator class that converts the contact force field in systems::ContactResults to external joint torque for a set of specified model instances in RigidBodyTree. More...

class	IiwaStatusReceiver
	Handles lcmt_iiwa_status messages from a LcmSubscriberSystem. More...

class	IiwaStatusSender
	Creates and outputs lcmt_iiwa_status messages. More...

class	KukaTorqueController
	Controller that take emulates the kuka_iiwa_arm when operated in torque control mode. More...

class	LcmPlanInterpolator

class	OracularStateEstimation
	A System block that takes state vector and output a bot_core::robot_state_t message. More...

Functions
PiecewisePolynomial< double >	MakeControlledKukaPlan ()
	Make a (fairly arbitrary) plan for an iiwa arm to follow which demonstrates controlling a simulated arm in drake. More...

VectorX< double >	get_iiwa_max_joint_velocities ()
	Returns the maximum joint velocities provided by Kuka. More...

template<typename T >
Matrix6< T >	ComputeLumpedGripperInertiaInEndEffectorFrame (const RigidBodyTree< T > &world_tree, int iiwa_instance, const std::string &end_effector_link_name, int wsg_instance)
	Computes the lumped inertia parameters of the gripper and the end effector link expressed in the end effector frame. More...

template Matrix6< double >	ComputeLumpedGripperInertiaInEndEffectorFrame (const RigidBodyTree< double > &, int, const std::string &, int)

void	VerifyIiwaTree (const RigidBodyTree< double > &tree)
	Verifies that `tree` matches assumptions about joint indices. More...

void	CreateTreedFromFixedModelAtPose (const std::string &model_file_name, RigidBodyTreed *tree, const Vector3d &position, const Vector3d &orientation)

void	SetPositionControlledIiwaGains (Eigen::VectorXd Kp, Eigen::VectorXd Ki, Eigen::VectorXd *Kd)
	Used to set the feedback gains for the simulated position controlled KUKA. More...

void	SetTorqueControlledIiwaGains (Eigen::VectorXd stiffness, Eigen::VectorXd damping_ratio)
	Used to set the feedback gains for the simulated torque controlled KUKA. More...

void	ApplyJointVelocityLimits (const MatrixX< double > &keyframes, std::vector< double > *time)
	Scales a plan so that no step exceeds the robot's maximum joint velocities. More...

robotlocomotion::robot_plan_t	EncodeKeyFrames (const RigidBodyTree< double > &robot, const std::vector< double > &time, const std::vector< int > &info, const MatrixX< double > &keyframes)
	Makes a robotlocomotion::robot_plan_t message. More...

robotlocomotion::robot_plan_t	EncodeKeyFrames (const std::vector< std::string > &joint_names, const std::vector< double > &time, const std::vector< int > &info, const MatrixX< double > &keyframes)
	Makes a robotlocomotion::robot_plan_t message. More...

void	CreateTreedFromFixedModelAtPose (const std::string &model_file_name, RigidBodyTreed *tree, const Eigen::Vector3d &position=Eigen::Vector3d::Zero(), const Eigen::Vector3d &orientation=Eigen::Vector3d::Zero())
	Builds a RigidBodyTree at the specified and from the model specified by . More...

	GTEST_TEST (IiwaLcmTest, IiwaCommandReceiverTest)

	GTEST_TEST (IiwaLcmTest, IiwaCommandSenderTest)

	GTEST_TEST (IiwaLcmTest, IiwaStatusReceiverTest)

	GTEST_TEST (IiwaLcmTest, IiwaStatusSenderTest)

	GTEST_TEST (IiwaLcmTest, IiwaContactResultsToExternalTorque)

	GTEST_TEST (KukaTorqueControllerTest, GravityCompensationTest)

	GTEST_TEST (KukaTorqueControllerTest, SpringTorqueTest)

	GTEST_TEST (KukaTorqueControllerTest, DampingTorqueTest)

Variables
constexpr int	kIiwaArmNumJoints = 7

const double	kIiwaLcmStatusPeriod = 0.005

static const int	kNumJoints = 7

Function Documentation

◆ ApplyJointVelocityLimits()

void ApplyJointVelocityLimits	(	const MatrixX< double > &	keyframes,
		std::vector< double > *	time
	)

Scales a plan so that no step exceeds the robot's maximum joint velocities.

The number of columns in keyframes must match the size of time. Times must be in strictly increasing order.

See also: get_iiwa_max_joint_velocities

◆ ComputeLumpedGripperInertiaInEndEffectorFrame() [1/2]

Matrix6< T > ComputeLumpedGripperInertiaInEndEffectorFrame	(	const RigidBodyTree< T > &	world_tree,
		int	iiwa_instance,
		const std::string &	end_effector_link_name,
		int	wsg_instance
	)

Computes the lumped inertia parameters of the gripper and the end effector link expressed in the end effector frame.

Parameters

world_tree	The RigidBodyTree that contains the arm and the gripper models.
iiwa_instance	Identifier for the arm in `world_tree`.
end_effector_link_name	Link name of the end effector.
wsg_instance	Identifier for the gripper in `world_tree`.

Returns: Lumped inertia parameters.

◆ ComputeLumpedGripperInertiaInEndEffectorFrame() [2/2]

template Matrix6<double> drake::examples::kuka_iiwa_arm::ComputeLumpedGripperInertiaInEndEffectorFrame	(	const RigidBodyTree< double > &	,
		int	,
		const std::string &	,
		int
	)

◆ CreateTreedFromFixedModelAtPose() [1/2]

void drake::examples::kuka_iiwa_arm::CreateTreedFromFixedModelAtPose	(	const std::string &	model_file_name,
		RigidBodyTreed *	tree,
		const Eigen::Vector3d &	position = `Eigen::Vector3d::Zero()`,
		const Eigen::Vector3d &	orientation = `Eigen::Vector3d::Zero()`
	)

Builds a RigidBodyTree at the specified and from the model specified by .

This method is a convenience wrapper over AddModelInstanceFromUrdfFile.

See also: drake::parsers::urdf::AddModelInstanceFromUrdfFile

◆ CreateTreedFromFixedModelAtPose() [2/2]

void drake::examples::kuka_iiwa_arm::CreateTreedFromFixedModelAtPose	(	const std::string &	model_file_name,
		RigidBodyTreed *	tree,
		const Vector3d &	position,
		const Vector3d &	orientation
	)

◆ EncodeKeyFrames() [1/2]

robotlocomotion::robot_plan_t EncodeKeyFrames	(	const RigidBodyTree< double > &	robot,
		const std::vector< double > &	time,
		const std::vector< int > &	info,
		const MatrixX< double > &	keyframes
	)

Makes a robotlocomotion::robot_plan_t message.

The number of columns in keyframes must match the size of time. Times must be in strictly increasing order.

◆ EncodeKeyFrames() [2/2]

robotlocomotion::robot_plan_t EncodeKeyFrames	(	const std::vector< std::string > &	joint_names,
		const std::vector< double > &	time,
		const std::vector< int > &	info,
		const MatrixX< double > &	keyframes
	)

Makes a robotlocomotion::robot_plan_t message.

The number of rows in keyframes must match the size of joint_names. The number of columns in keyframes must match the size of time. Times must be in strictly increasing order.

Encode the q_sol returned for each timestep into the vector of robot states.

◆ get_iiwa_max_joint_velocities()

VectorX< double > get_iiwa_max_joint_velocities ( )

Returns the maximum joint velocities provided by Kuka.

Returns: Maximum joint velocities (rad/s).

◆ GTEST_TEST() [1/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	KukaTorqueControllerTest	,
		GravityCompensationTest
	)

◆ GTEST_TEST() [2/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaCommandReceiverTest
	)

◆ GTEST_TEST() [3/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	KukaTorqueControllerTest	,
		SpringTorqueTest
	)

◆ GTEST_TEST() [4/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaCommandSenderTest
	)

◆ GTEST_TEST() [5/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaStatusReceiverTest
	)

◆ GTEST_TEST() [6/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	KukaTorqueControllerTest	,
		DampingTorqueTest
	)

◆ GTEST_TEST() [7/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaStatusSenderTest
	)

◆ GTEST_TEST() [8/8]

drake::examples::kuka_iiwa_arm::GTEST_TEST	(	IiwaLcmTest	,
		IiwaContactResultsToExternalTorque
	)

◆ MakeControlledKukaPlan()

trajectories::PiecewisePolynomial< double > MakeControlledKukaPlan ( )

Make a (fairly arbitrary) plan for an iiwa arm to follow which demonstrates controlling a simulated arm in drake.

◆ SetPositionControlledIiwaGains()

void SetPositionControlledIiwaGains	(	Eigen::VectorXd *	Kp,
		Eigen::VectorXd *	Ki,
		Eigen::VectorXd *	Kd
	)

Used to set the feedback gains for the simulated position controlled KUKA.

◆ SetTorqueControlledIiwaGains()

void SetTorqueControlledIiwaGains	(	Eigen::VectorXd *	stiffness,
		Eigen::VectorXd *	damping_ratio
	)

Used to set the feedback gains for the simulated torque controlled KUKA.

◆ VerifyIiwaTree()

void VerifyIiwaTree ( const RigidBodyTree< double > & tree )

Verifies that tree matches assumptions about joint indices.

Aborts if the tree isn't as expected.

Variable Documentation

◆ kIiwaArmNumJoints

constexpr int kIiwaArmNumJoints = 7

◆ kIiwaLcmStatusPeriod

const double kIiwaLcmStatusPeriod = 0.005

◆ kNumJoints

const int kNumJoints = 7

static

Namespaces

Classes

Functions

Variables