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 dependency graph for run_controlled_jaco_demo.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::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[] 
)