drake::manipulation::kinova_jaco Namespace Reference

Classes
class	JacoCommandReceiver
	Handles lcmt_jaco_command message from a LcmSubscriberSystem. More...
class	JacoCommandSender
	Creates and outputs lcmt_jaco_command messages. More...
class	JacoStatusReceiver
	Handles lcmt_jaco_status messages from a LcmSubscriberSystem. More...
class	JacoStatusSender
	Creates and outputs lcmt_jaco_status messages. More...

Variables
constexpr int	kJacoDefaultArmNumJoints = 7
	The LCM system classes for the Jaco default to a 7dof model with 3 fingers.
constexpr int	kJacoDefaultArmNumFingers = 3
constexpr double	kFingerSdkToUrdf = 1.34 / 118.68
	The Jaco URDF models the fingers as having a single revolute joint, but the SDK uses the motor position for the actuator driving the adaptive fingers.
constexpr double	kFingerUrdfToSdk = 1. / kFingerSdkToUrdf
constexpr double	kJacoLcmStatusPeriod = 0.010
	Kinova says 100Hz is the proper frequency for joint velocity updates.

Variable Documentation

kFingerSdkToUrdf

double kFingerSdkToUrdf = 1.34 / 118.68

constexpr

The Jaco URDF models the fingers as having a single revolute joint, but the SDK uses the motor position for the actuator driving the adaptive fingers.

This doesn't really convert well, so we use a scaling factor to approximate a reasonable behavior for simulation/visualization.

kFingerUrdfToSdk

double kFingerUrdfToSdk = 1. / kFingerSdkToUrdf

constexpr

kJacoDefaultArmNumFingers

int kJacoDefaultArmNumFingers = 3

constexpr

kJacoDefaultArmNumJoints

int kJacoDefaultArmNumJoints = 7

constexpr

The LCM system classes for the Jaco default to a 7dof model with 3 fingers.

Different configurations are supported by passing the proper arguments to the system constructors.

kJacoLcmStatusPeriod

double kJacoLcmStatusPeriod = 0.010

constexpr

Kinova says 100Hz is the proper frequency for joint velocity updates.

See https://github.com/Kinovarobotics/kinova-ros#velocity-control-for-joint-space-and-cartesian-space