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Drake
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Drake
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Classes | |
| class | DrakeKukaIIwaRobot |
| This class is a MultibodyTree model for a 7-DOF Kuka iiwa robot arm. More... | |
| struct | KukaRobotJointReactionForces |
| Utility struct to assist with returning joint torques/forces. More... | |
Functions | |
| template<typename T > | |
| std::unique_ptr< multibody::internal::MultibodyTree< T > > | MakeKukaIiwaModel (bool finalize_model=true, double gravity=9.81) |
| This method makes a MultibodyTree model for a Kuka Iiwa arm as specified in the file kuka_iiwa_robot.urdf contained in this same directory. More... | |
| std::unique_ptr<multibody::internal::MultibodyTree<T> > drake::multibody::benchmarks::kuka_iiwa_robot::MakeKukaIiwaModel | ( | bool | finalize_model = true, |
| double | gravity = 9.81 |
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This method makes a MultibodyTree model for a Kuka Iiwa arm as specified in the file kuka_iiwa_robot.urdf contained in this same directory.
Links can be accessed by their name "iiwa_link_1" (base) through "iiwa_link_7" (end effector). The "world" body can be accessed with MultibodyTree::world_body(). Joints can be accessed by their name "iiwa_joint_1" (from the base) through "iiwa_joint_7" (to the end effector). The new MultibodyTree model is finalized by MultibodyTree::Finalize() and therefore no more modeling elements can be added.
| [in] | finalize_model | If true, the model is finalized with MultibodyTree::Finalize(). A non-finalized model can be requested if adding more multibody elements is desired. |
| [in] | gravity | The value of the acceleration of gravity, in m/s². |