This directory contains an example for simulating a planar-gripper (three two-degree-of-freedom fingers moving in a plane) which reorients a brick through contact interactions.
All instructions assume that you are launching from the drake
workspace directory.
cd drake
Open a visualizer window
bazel run //tools:meldis -- --open-window &
Build the example in this directory
bazel build //examples/planar_gripper/...
bazel-bin/examples/planar_gripper/run_planar_gripper_trajectory_publisher
Sends desired joint positions over LCM. Requires a suitable LCM based
simulator (such as the example in this directory) listening for
lcmt_planar_gripper_command messages and publishing
lcmt_planar_gripper_status messages. If successful, the program will
display Waiting for first lcmt_planar_gripper_status, indicating it is
waiting for the simulation to start publishing status messages.
Run the following example of an (LCM based) simulation of a planar-gripper:
bazel-bin/examples/planar_gripper/planar_gripper_simulation
This simulates a planar-gripper with a position-based inverse dynamics controller (by default), communicating via LCM.