Drake
run_controlled_jaco_demo.cc File Reference

This demo sets up a position controlled and gravity compensated Kinova Jaco robot within a simulation to follow an arbitrarily designed plan. More...

#include <memory>
#include <gflags/gflags.h>
#include "drake/common/find_resource.h"
#include "drake/common/trajectories/piecewise_polynomial_trajectory.h"
#include "drake/examples/kinova_jaco_arm/jaco_common.h"
#include "drake/lcm/drake_lcm.h"
#include "drake/multibody/parsers/urdf_parser.h"
#include "drake/multibody/rigid_body_ik.h"
#include "drake/multibody/rigid_body_plant/drake_visualizer.h"
#include "drake/multibody/rigid_body_plant/rigid_body_plant.h"
#include "drake/multibody/rigid_body_tree_construction.h"
#include "drake/systems/analysis/simulator.h"
#include "drake/systems/controllers/inverse_dynamics_controller.h"
#include "drake/systems/framework/diagram_builder.h"
#include "drake/systems/primitives/trajectory_source.h"
Include dependency graph for run_controlled_jaco_demo.cc:

Namespaces

 drake
 
 drake::examples
 
 drake::examples::kinova_jaco_arm
 

Functions

 DEFINE_double (simulation_sec, 12,"Number of seconds to simulate.")
 
int main (int argc, char *argv[])
 

Detailed Description

This demo sets up a position controlled and gravity compensated Kinova Jaco robot within a simulation to follow an arbitrarily designed plan.

The generated plan takes the arm from the zero configuration through a motion that reaches a Cartesian position in space, and then repeats this reaching task while applying a joint configuration constraint. Note that the end-effector orientation is not constrained in this demo.

Function Documentation

DEFINE_double ( simulation_sec  ,
12  ,
"Number of seconds to simulate."   
)
int main ( int  argc,
char *  argv[] 
)

Here is the call graph for this function: