Drake
drake::examples::kuka_iiwa_arm::pick_and_place Namespace Reference

Classes

class  Action
 Base class for actions used by the pick and place demo. More...
 
class  IiwaMove
 A class that represents an action that sends a sequence of desired joint positions through LCM to move the KUKA iiwa arm. More...
 
class  PickAndPlaceStateMachine
 A class which controls the pick and place actions for moving a single target in the environment. More...
 
class  WorldState
 A class that represents the iiwa pick and place world, which contains a KUKA iiwa arm, a Schunk WSG gripper, and an object that is being manipulated. More...
 
class  WsgAction
 An Action that closes / opens the gripper. More...
 

Enumerations

enum  PickAndPlaceState {
  kOpenGripper, kApproachPickPregrasp, kApproachPick, kGrasp,
  kLiftFromPick, kApproachPlacePregrasp, kApproachPlace, kPlace,
  kLiftFromPlace, kDone
}
 Different states for the pick and place task. More...
 

Variables

const double kMaxIiwaJointVelocity = 1.
 

Enumeration Type Documentation

Different states for the pick and place task.

Enumerator
kOpenGripper 
kApproachPickPregrasp 
kApproachPick 
kGrasp 
kLiftFromPick 
kApproachPlacePregrasp 
kApproachPlace 
kPlace 
kLiftFromPlace 
kDone 

Variable Documentation

const double kMaxIiwaJointVelocity = 1.