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  LcmPlanner
 A custom systems::Diagram composed of a PickAndPlaceStateMachineSystem and drake::manipulation::OptitrackPoseExtractor systems. More...
 
class  LcmPlant
 A custom systems::Diagram comprised of an IiwaWsgPlantWithStateEstimator, a simulated Optitrack system, and SchunkWsgControllers for each gripper in the plant. More...
 
struct  OptitrackConfiguration
 Optitrack information required for a pick-and-place scenario with multiple arms, tables, and manipulable objects. More...
 
struct  OptitrackInfo
 Information required to track a model from an Optitrack frame. More...
 
class  PickAndPlaceStateMachine
 A class which controls the pick and place actions for moving a single target in the environment. More...
 
class  PickAndPlaceStateMachineSystem
 A class that implements the Finite-State-Machine logic for the Pick-And-Place demo. More...
 
struct  PlannerConfiguration
 Information required to set up a planner for a pick-and-place task. More...
 
struct  SimulatedPlantConfiguration
 Information required to set up a simulation of a pick-and-place scenario with multiple arms, tables, and manipulable objects. 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...
 

Typedefs

using RobotBaseIndex = TypeSafeIndex< class RobotBaseTag >
 
using TargetIndex = TypeSafeIndex< class TargetTag >
 
using TaskIndex = TypeSafeIndex< class TaskTag >
 

Enumerations

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

Functions

pick_and_place::PlannerConfiguration ParsePlannerConfigurationOrThrow (const std::string &filename, TaskIndex task_index=TaskIndex(0))
 Read the pick and place configuration from filename, returning the planner configuration for the task specified by task_index. More...
 
std::vector< pick_and_place::PlannerConfigurationParsePlannerConfigurationsOrThrow (const std::string &filename)
 Read the pick and place configuration from filename, returning the planner configuration for all tasks. More...
 
pick_and_place::SimulatedPlantConfiguration ParseSimulatedPlantConfigurationOrThrow (const proto::PickAndPlaceConfiguration &configuration)
 
pick_and_place::SimulatedPlantConfiguration ParseSimulatedPlantConfigurationOrThrow (const std::string &filename)
 Read the pick and place configuration from filename, returning the simulated plant configuration. More...
 
pick_and_place::SimulatedPlantConfiguration ParseSimulatedPlantConfigurationStringOrThrow (const std::string &configuration)
 Parse the pick and place configuration from configuation, returning the simulated plant configuration. More...
 
pick_and_place::OptitrackConfiguration ParseOptitrackConfigurationOrThrow (const std::string &filename)
 Read the pick and place configuration from filename, returning the optitrack information for the scenario. More...
 
std::ostream & operator<< (std::ostream &os, const PickAndPlaceState value)
 

Typedef Documentation

using RobotBaseIndex = TypeSafeIndex<class RobotBaseTag>
using TargetIndex = TypeSafeIndex<class TargetTag>
using TaskIndex = TypeSafeIndex<class TaskTag>

Enumeration Type Documentation

enum PickAndPlaceState
strong

Different states for the pick and place task.

Enumerator
kOpenGripper 
kPlan 
kApproachPickPregrasp 
kApproachPick 
kGrasp 
kLiftFromPick 
kApproachPlacePregrasp 
kApproachPlace 
kPlace 
kLiftFromPlace 
kReset 
kDone 

Function Documentation

std::ostream& drake::examples::kuka_iiwa_arm::pick_and_place::operator<< ( std::ostream &  os,
const PickAndPlaceState  value 
)
pick_and_place::OptitrackConfiguration ParseOptitrackConfigurationOrThrow ( const std::string &  filename)

Read the pick and place configuration from filename, returning the optitrack information for the scenario.

pick_and_place::PlannerConfiguration ParsePlannerConfigurationOrThrow ( const std::string &  filename,
TaskIndex  task_index = TaskIndex(0) 
)

Read the pick and place configuration from filename, returning the planner configuration for the task specified by task_index.

std::vector< pick_and_place::PlannerConfiguration > ParsePlannerConfigurationsOrThrow ( const std::string &  filename)

Read the pick and place configuration from filename, returning the planner configuration for all tasks.

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pick_and_place::SimulatedPlantConfiguration drake::examples::kuka_iiwa_arm::pick_and_place::ParseSimulatedPlantConfigurationOrThrow ( const proto::PickAndPlaceConfiguration &  configuration)

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pick_and_place::SimulatedPlantConfiguration ParseSimulatedPlantConfigurationOrThrow ( const std::string &  filename)

Read the pick and place configuration from filename, returning the simulated plant configuration.

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pick_and_place::SimulatedPlantConfiguration ParseSimulatedPlantConfigurationStringOrThrow ( const std::string &  configuration)

Parse the pick and place configuration from configuation, returning the simulated plant configuration.

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