Classes
class	IiwaCommandReceiver
	Handles lcmt_iiwa_command message from a LcmSubscriberSystem. More...

class	IiwaCommandSender
	Creates and outputs lcmt_iiwa_command messages. More...

struct	IiwaControlPorts
	The return type of BuildSimplifiedIiwaControl(). More...

struct	IiwaDriver
	This config struct specifies how to wire up Drake systems between an LCM interface and the actuation input ports of a MultibodyPlant. More...

class	IiwaStatusReceiver
	Handles lcmt_iiwa_status messages from a LcmSubscriberSystem. More...

class	IiwaStatusSender
	Creates and outputs lcmt_iiwa_status messages. More...

class	SimIiwaDriver
	SimIiwaDriver simulates the IIWA control and status interface using a MultibodyPlant. More...

Enumerations
enum	IiwaControlMode { kPositionOnly, kTorqueOnly, kPositionAndTorque }
	Enumeration for control modes. More...

Functions
void	BuildIiwaControl (const multibody::MultibodyPlant< double > &plant, const multibody::ModelInstanceIndex iiwa_instance, const multibody::MultibodyPlant< double > &controller_plant, lcm::DrakeLcmInterface lcm, systems::DiagramBuilder< double > builder, double ext_joint_filter_tau=0.01, const std::optional< Eigen::VectorXd > &desired_iiwa_kp_gains=std::nullopt, IiwaControlMode control_mode=IiwaControlMode::kPositionAndTorque)
	Given a `plant` (and associated `iiwa_instance`) and a `builder`, installs in that builder the systems necessary to control and monitor an Iiwa described by `controller_plant` in that plant. More...

IiwaControlPorts	BuildSimplifiedIiwaControl (const multibody::MultibodyPlant< double > &plant, const multibody::ModelInstanceIndex iiwa_instance, const multibody::MultibodyPlant< double > &controller_plant, systems::DiagramBuilder< double > *builder, double ext_joint_filter_tau=0.01, const std::optional< Eigen::VectorXd > &desired_iiwa_kp_gains=std::nullopt, IiwaControlMode control_mode=IiwaControlMode::kPositionAndTorque)
	A simplified Iiwa controller builder to construct an InverseDynamicsController without adding LCM I/O systems. More...

VectorX< double >	get_iiwa_max_joint_velocities ()
	Returns the maximum joint velocities (rad/s) provided by Kuka. More...

constexpr bool	position_enabled (IiwaControlMode control_mode)
	Reports if the given control `mode` includes positions. More...

constexpr bool	torque_enabled (IiwaControlMode control_mode)
	Reports if the given control `mode` includes torques. More...

IiwaControlMode	ParseIiwaControlMode (const std::string &control_mode)
	Parses control mode with the following mapping: More...

void	ApplyDriverConfig (const IiwaDriver &driver_config, const std::string &model_instance_name, const multibody::MultibodyPlant< double > &sim_plant, const std::map< std::string, multibody::parsing::ModelInstanceInfo > &models_from_directives, const systems::lcm::LcmBuses &lcms, systems::DiagramBuilder< double > *builder)
	Wires up Drake systems between an LCM interface and the actuation input ports of a MultibodyPlant. More...

Variables
constexpr int	kIiwaArmNumJoints = 7

const double	kIiwaLcmStatusPeriod

Enumeration Type Documentation

◆ IiwaControlMode

enum IiwaControlMode

strong

Enumeration for control modes.

Enumerator
kPositionOnly
kTorqueOnly
kPositionAndTorque

Function Documentation

◆ ApplyDriverConfig()

void drake::manipulation::kuka_iiwa::ApplyDriverConfig	(	const IiwaDriver &	driver_config,
		const std::string &	model_instance_name,
		const multibody::MultibodyPlant< double > &	sim_plant,
		const std::map< std::string, multibody::parsing::ModelInstanceInfo > &	models_from_directives,
		const systems::lcm::LcmBuses &	lcms,
		systems::DiagramBuilder< double > *	builder
	)

Wires up Drake systems between an LCM interface and the actuation input ports of a MultibodyPlant.

This simulates the role that driver software and control cabinets would take in real life.

Precondition: model_instance_name is in models_from_directives.; driver_config.hand_model_name is in models_from_directives.

◆ BuildIiwaControl()

void drake::manipulation::kuka_iiwa::BuildIiwaControl	(	const multibody::MultibodyPlant< double > &	plant,
		const multibody::ModelInstanceIndex	iiwa_instance,
		const multibody::MultibodyPlant< double > &	controller_plant,
		lcm::DrakeLcmInterface *	lcm,
		systems::DiagramBuilder< double > *	builder,
		double	ext_joint_filter_tau = `0.01`,
		const std::optional< Eigen::VectorXd > &	desired_iiwa_kp_gains = `std::nullopt`,
		IiwaControlMode	control_mode = `IiwaControlMode::kPositionAndTorque`
	)

Given a plant (and associated iiwa_instance) and a builder, installs in that builder the systems necessary to control and monitor an Iiwa described by controller_plant in that plant.

The installed plant will communicate over the LCM interface lcm.

The installed plant will connect itself to the actuation input port and state output ports in plant corresponding to the Iiwa model.

desired_iiwa_kp_gains is an optional argument to pass in gains corresponding to the Iiwa Dof (7) in the controller. If no argument is passed, the gains derived from hardware will be used instead (hardcoded within the implementation of this function). These gains must be nullopt if control_mode does not include position control.

control_mode the control mode for the controller.

Note: The Diagram will maintain an internal reference to controller_plant, so you must ensure that controller_plant has a longer lifetime than the Diagram.

◆ BuildSimplifiedIiwaControl()

IiwaControlPorts drake::manipulation::kuka_iiwa::BuildSimplifiedIiwaControl	(	const multibody::MultibodyPlant< double > &	plant,
		const multibody::ModelInstanceIndex	iiwa_instance,
		const multibody::MultibodyPlant< double > &	controller_plant,
		systems::DiagramBuilder< double > *	builder,
		double	ext_joint_filter_tau = `0.01`,
		const std::optional< Eigen::VectorXd > &	desired_iiwa_kp_gains = `std::nullopt`,
		IiwaControlMode	control_mode = `IiwaControlMode::kPositionAndTorque`
	)

A simplified Iiwa controller builder to construct an InverseDynamicsController without adding LCM I/O systems.

See also: BuildIiwaControl()

◆ get_iiwa_max_joint_velocities()

VectorX<double> drake::manipulation::kuka_iiwa::get_iiwa_max_joint_velocities ( )

Returns the maximum joint velocities (rad/s) provided by Kuka.

◆ ParseIiwaControlMode()

IiwaControlMode drake::manipulation::kuka_iiwa::ParseIiwaControlMode ( const std::string & control_mode )

Parses control mode with the following mapping:

"position_only": kPositionOnly
"torque_only": kTorqueOnly
"position_and_torque": kPositionAndTorque

◆ position_enabled()

constexpr bool drake::manipulation::kuka_iiwa::position_enabled ( IiwaControlMode control_mode )

Reports if the given control mode includes positions.

◆ torque_enabled()

constexpr bool drake::manipulation::kuka_iiwa::torque_enabled ( IiwaControlMode control_mode )

Reports if the given control mode includes torques.

Variable Documentation

◆ kIiwaArmNumJoints

constexpr int kIiwaArmNumJoints = 7

◆ kIiwaLcmStatusPeriod

const double kIiwaLcmStatusPeriod

Classes

Enumerations

Functions

Variables