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

strong

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

Enumerator
kNoCollision
kBoxCollision

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

strong

Determines which manipulation station is simulated.