drake::manipulation::schunk_wsg Namespace Reference

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...

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

Enumeration Type Documentation

ControlMode

enum ControlMode

strong

Enumerator
kPosition
kForce

Function Documentation

ApplyDriverConfig()

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.

BuildSchunkWsgControl()

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 = {}
	)

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.

GetSchunkWsgOpenPosition()

VectorX<T> drake::manipulation::schunk_wsg::GetSchunkWsgOpenPosition

(

)

Returns the position vector corresponding to the open position of the gripper.

Variable Documentation

kSchunkWsgLcmStatusPeriod

constexpr double kSchunkWsgLcmStatusPeriod = 0.05

kSchunkWsgNumActuators

constexpr int kSchunkWsgNumActuators = 2

kSchunkWsgNumPositions

constexpr int kSchunkWsgNumPositions = 2

kSchunkWsgNumVelocities

constexpr int kSchunkWsgNumVelocities = 2

kSchunkWsgPositionIndex

constexpr int kSchunkWsgPositionIndex = 0

kSchunkWsgVelocityIndex

constexpr int kSchunkWsgVelocityIndex

Initial value:

=
    kSchunkWsgNumPositions + kSchunkWsgPositionIndex