Drake
Drake C++ Documentation
drake::examples::manipulation_station Namespace Reference

Classes

class  ManipulationStation
 A system that represents the complete manipulation station, including exactly one robotic arm (a Kuka IIWA LWR), one gripper (a Schunk WSG 50), and anything a user might want to load into the model. More...
 
class  ManipulationStationHardwareInterface
 A System that connects via message-passing to the hardware manipulation station. More...
 

Enumerations

enum  IiwaCollisionModel { kNoCollision, kBoxCollision }
 Determines which sdf is loaded for the IIWA in the ManipulationStation. More...
 
enum  SchunkCollisionModel { kBox, kBoxPlusFingertipSpheres }
 Determines which schunk model is used for the ManipulationStation. More...
 
enum  Setup { kNone, kManipulationClass, kClutterClearing, kPlanarIiwa }
 Determines which manipulation station is simulated. More...
 

Enumeration Type Documentation

◆ IiwaCollisionModel

enum IiwaCollisionModel
strong

Determines which sdf is loaded for the IIWA in the ManipulationStation.

Enumerator
kNoCollision 
kBoxCollision 

◆ SchunkCollisionModel

enum SchunkCollisionModel
strong

Determines which schunk model is used for the ManipulationStation.

  • kBox loads a model with a box collision geometry. This model is for those who want simplified collision behavior.
  • kBoxPlusFingertipSpheres loads a Schunk model with collision spheres that models the indentations at tip of the fingers, in addition to the box collision geometry on the fingers.
Enumerator
kBox 
kBoxPlusFingertipSpheres 

◆ Setup

enum Setup
strong

Determines which manipulation station is simulated.

Enumerator
kNone 
kManipulationClass 
kClutterClearing 
kPlanarIiwa