Drake
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. More...
 
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. More...
 
constexpr double kFingerUrdfToSdk = 1. / kFingerSdkToUrdf
 
constexpr double kJacoLcmStatusPeriod = 0.010
 Kinova says 100Hz is the proper frequency for joint velocity updates. More...
 

Variable Documentation

◆ kFingerSdkToUrdf

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.

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

◆ kFingerUrdfToSdk

constexpr double kFingerUrdfToSdk = 1. / kFingerSdkToUrdf

◆ kJacoDefaultArmNumFingers

constexpr int kJacoDefaultArmNumFingers = 3

◆ kJacoDefaultArmNumJoints

constexpr int kJacoDefaultArmNumJoints = 7

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

constexpr double kJacoLcmStatusPeriod = 0.010

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