Drake
SimulatedPlantConfiguration Struct Reference

Information required to set up a simulation of a pick-and-place scenario with multiple arms, tables, and manipulable objects. More...

#include <drake/examples/kuka_iiwa_arm/pick_and_place/pick_and_place_configuration.h>

Collaboration diagram for SimulatedPlantConfiguration:
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Public Attributes

std::vector< std::string > robot_models
 Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing each robot in the scenario. More...
 
std::vector< Isometry3< double > > robot_poses
 World poses of the base links of each robot arm in the scenario. More...
 
std::vector< std::string > table_models
 Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing each table in the scenario. More...
 
std::vector< Isometry3< double > > table_poses
 World poses of the model origin of each table in the scenario. More...
 
std::vector< std::string > object_models
 Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing each object in the scenario. More...
 
std::vector< Isometry3< double > > object_poses
 World poses of the model origin of each object in the scenario. More...
 
Conact parameters

Global contact parameters for the simulation.

double static_friction_coef {0.9}
 
double dynamic_friction_coef {0.5}
 
double v_stiction_tolerance {0.01}
 
double stiffness {10000}
 
double dissipation {2}
 

Detailed Description

Information required to set up a simulation of a pick-and-place scenario with multiple arms, tables, and manipulable objects.

Member Data Documentation

double dissipation {2}
double dynamic_friction_coef {0.5}
std::vector<std::string> object_models

Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing each object in the scenario.

std::vector<Isometry3<double> > object_poses

World poses of the model origin of each object in the scenario.

std::vector<std::string> robot_models

Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing each robot in the scenario.

std::vector<Isometry3<double> > robot_poses

World poses of the base links of each robot arm in the scenario.

double static_friction_coef {0.9}
double stiffness {10000}
std::vector<std::string> table_models

Path (relative to DRAKE_RESOURCE_ROOT) to the model file describing each table in the scenario.

std::vector<Isometry3<double> > table_poses

World poses of the model origin of each table in the scenario.

double v_stiction_tolerance {0.01}

The documentation for this struct was generated from the following file: