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Drake
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Drake
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Classes | |
| class | MultibodyForceToWsgForceSystem |
| Extract the gripper measured force from the generalized forces on the two fingers. More... | |
| class | SchunkWsgCommandReceiver |
| Handles the command for the Schunk WSG gripper from a LcmSubscriberSystem. More... | |
| class | SchunkWsgCommandSender |
| Send lcmt_schunk_wsg_command messages for a Schunk WSG gripper. More... | |
| class | SchunkWsgController |
| This class implements a controller for a Schunk WSG gripper. More... | |
| struct | SchunkWsgDriver |
| This config struct specifies how to wire up Drake systems between an LCM interface and the actuation input ports of a MultibodyPlant. More... | |
| class | SchunkWsgPdController |
| This class implements a controller for a Schunk WSG gripper in position control mode. More... | |
| class | SchunkWsgPlainController |
This class implements a controller for a Schunk WSG gripper as a systems::Diagram. More... | |
| class | SchunkWsgPositionController |
| This class implements a controller for a Schunk WSG gripper in position control mode adding a discrete-derivative to estimate the desired velocity from the desired position commands. More... | |
| class | SchunkWsgStatusReceiver |
| Handles lcmt_schunk_wsg_status messages from a LcmSubscriberSystem. More... | |
| class | SchunkWsgStatusSender |
| Sends lcmt_schunk_wsg_status messages for a Schunk WSG. More... | |
| class | SchunkWsgTrajectoryGenerator |
| This system defines input ports for the desired finger position represented as the desired distance between the fingers in meters and the desired force limit in newtons, and emits target position/velocity for the actuated finger to reach the commanded target, expressed as the negative of the distance between the two fingers in meters. More... | |
| class | SchunkWsgTrajectoryGeneratorStateVector |
| Specializes BasicVector with specific getters and setters. More... | |
| struct | SchunkWsgTrajectoryGeneratorStateVectorIndices |
| Describes the row indices of a SchunkWsgTrajectoryGeneratorStateVector. More... | |
Enumerations | |
| enum | ControlMode { kPosition = 0, kForce = 1 } |
Functions | |
| void | BuildSchunkWsgControl (const multibody::MultibodyPlant< double > &plant, multibody::ModelInstanceIndex wsg_instance, lcm::DrakeLcmInterface *lcm, systems::DiagramBuilder< double > *builder, const std::optional< Eigen::Vector3d > &pid_gains={}) |
Builds (into builder) the WSG control and sensing systems for the wsg model in plant indicated by wsg_instance; hooks those systems up to lcm and the relevant MultibodyPlant ports in the diagram. More... | |
| template<typename T > | |
| VectorX< T > | GetSchunkWsgOpenPosition () |
| Returns the position vector corresponding to the open position of the gripper. More... | |
| template<typename T > | |
| std::unique_ptr< systems::MatrixGain< T > > | MakeMultibodyStateToWsgStateSystem () |
| Extract the distance between the fingers (and its time derivative) out of the plant model which pretends the two fingers are independent. More... | |
| template<typename T > | |
| std::unique_ptr< systems::VectorSystem< T > > | MakeMultibodyForceToWsgForceSystem () |
| Helper method to create a MultibodyForceToWsgForceSystem. More... | |
| void | ApplyDriverConfig (const SchunkWsgDriver &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 | kSchunkWsgNumActuators = 2 |
| constexpr int | kSchunkWsgNumPositions = 2 |
| constexpr int | kSchunkWsgNumVelocities = 2 |
| constexpr int | kSchunkWsgPositionIndex = 0 |
| constexpr int | kSchunkWsgVelocityIndex |
| constexpr double | kSchunkWsgLcmStatusPeriod = 0.05 |
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strong |
| void drake::manipulation::schunk_wsg::ApplyDriverConfig | ( | const SchunkWsgDriver & | 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 robot firmware would take in real life.
| void drake::manipulation::schunk_wsg::BuildSchunkWsgControl | ( | const multibody::MultibodyPlant< double > & | plant, |
| multibody::ModelInstanceIndex | wsg_instance, | ||
| lcm::DrakeLcmInterface * | lcm, | ||
| systems::DiagramBuilder< double > * | builder, | ||
| const std::optional< Eigen::Vector3d > & | pid_gains = {} |
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| ) |
Builds (into builder) the WSG control and sensing systems for the wsg model in plant indicated by wsg_instance; hooks those systems up to lcm and the relevant MultibodyPlant ports in the diagram.
pid_gains can be used to override the default sim PID gains.
| VectorX<T> drake::manipulation::schunk_wsg::GetSchunkWsgOpenPosition | ( | ) |
Returns the position vector corresponding to the open position of the gripper.
| constexpr double kSchunkWsgLcmStatusPeriod = 0.05 |
| constexpr int kSchunkWsgNumActuators = 2 |
| constexpr int kSchunkWsgNumPositions = 2 |
| constexpr int kSchunkWsgNumVelocities = 2 |
| constexpr int kSchunkWsgPositionIndex = 0 |
| constexpr int kSchunkWsgVelocityIndex |